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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
5 | * * |
5 | * * |
6 | * This program is free software; you can redistribute it and/or modify * |
6 | * This program is free software; you can redistribute it and/or modify * |
7 | * it under the terms of the GNU General Public License as published by * |
7 | * it under the terms of the GNU General Public License as published by * |
8 | * the Free Software Foundation; either version 2 of the License. * |
8 | * the Free Software Foundation; either version 2 of the License. * |
9 | * * |
9 | * * |
10 | * This program is distributed in the hope that it will be useful, * |
10 | * This program is distributed in the hope that it will be useful, * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
13 | * GNU General Public License for more details. * |
13 | * GNU General Public License for more details. * |
14 | * * |
14 | * * |
15 | * You should have received a copy of the GNU General Public License * |
15 | * You should have received a copy of the GNU General Public License * |
16 | * along with this program; if not, write to the * |
16 | * along with this program; if not, write to the * |
17 | * Free Software Foundation, Inc., * |
17 | * Free Software Foundation, Inc., * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
19 | * * |
19 | * * |
20 | * * |
20 | * * |
21 | * Credits to: * |
21 | * Credits to: * |
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
24 | * Klaus "akku" Buettner for the hardware * |
24 | * Klaus "akku" Buettner for the hardware * |
25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
26 | ****************************************************************************/ |
26 | ****************************************************************************/ |
27 | 27 | ||
28 | #include <avr/io.h> |
28 | #include <avr/io.h> |
29 | #include <avr/interrupt.h> |
29 | #include <avr/interrupt.h> |
30 | #include <util/delay.h> |
30 | #include <util/delay.h> |
31 | #include <avr/pgmspace.h> |
31 | #include <avr/pgmspace.h> |
32 | #include "main.h" |
32 | #include "main.h" |
33 | #include "max7456_software_spi.h" |
33 | #include "max7456_software_spi.h" |
34 | #include "usart1.h" |
34 | #include "usart1.h" |
35 | #include "osd_helpers.h" |
35 | #include "osd_helpers.h" |
36 | #include "config.h" |
36 | #include "config.h" |
37 | #include "spi.h" |
37 | #include "spi.h" |
38 | #include "buttons.h" |
38 | #include "buttons.h" |
39 | #include "ppm.h" |
39 | #include "ppm.h" |
40 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
40 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
41 | #include "osd_ncmode_default.h" |
41 | #include "osd_ncmode_default.h" |
42 | #include "osd_ncmode_minimal.h" |
42 | #include "osd_ncmode_minimal.h" |
43 | #include "osd_fcmode_default.h" |
43 | #include "osd_fcmode_default.h" |
44 | #endif |
44 | #endif |
45 | 45 | ||
46 | /* TODO: |
46 | /* TODO: |
47 | * - verifiy correctness of values |
47 | * - verifiy correctness of values |
48 | * - clean up code :) |
48 | * - clean up code :) |
49 | */ |
49 | */ |
50 | 50 | ||
51 | 51 | ||
52 | /* ########################################################################## |
52 | /* ########################################################################## |
53 | * global definitions and global vars |
53 | * global definitions and global vars |
54 | * ##########################################################################*/ |
54 | * ##########################################################################*/ |
55 | 55 | ||
56 | volatile uint16_t setsReceived = 0; |
56 | volatile uint16_t setsReceived = 0; |
57 | 57 | ||
58 | volatile NaviData_t naviData; |
58 | volatile NaviData_t naviData; |
59 | volatile DebugOut_t debugData; |
59 | volatile DebugOut_t debugData; |
60 | 60 | ||
61 | // cache old vars for blinking attribute, checkup is faster than full |
61 | // cache old vars for blinking attribute, checkup is faster than full |
62 | // attribute write each time |
62 | // attribute write each time |
63 | volatile uint8_t last_UBat = 255; |
63 | volatile uint8_t last_UBat = 255; |
64 | volatile uint8_t last_RC_Quality = 255; |
64 | volatile uint8_t last_RC_Quality = 255; |
65 | 65 | ||
66 | // 16bit should be enough, normal LiPos don't last that long |
66 | // 16bit should be enough, normal LiPos don't last that long |
67 | volatile uint16_t uptime = 0; |
67 | volatile uint16_t uptime = 0; |
68 | volatile uint16_t timer = 0; |
68 | volatile uint16_t timer = 0; |
69 | 69 | ||
70 | // remember last time data was received |
70 | // remember last time data was received |
71 | volatile uint8_t seconds_since_last_data = 0; |
71 | volatile uint8_t seconds_since_last_data = 0; |
72 | 72 | ||
73 | // general PAL|NTSC distingiusch stuff |
73 | // general PAL|NTSC distingiusch stuff |
74 | uint8_t top_line = 1; |
74 | uint8_t top_line = 1; |
75 | uint8_t bottom_line = 14; |
75 | uint8_t bottom_line = 14; |
76 | 76 | ||
77 | // battery voltages |
77 | // battery voltages |
78 | uint8_t min_voltage = 0; |
78 | uint8_t min_voltage = 0; |
79 | uint8_t max_voltage = 0; |
79 | uint8_t max_voltage = 0; |
80 | 80 | ||
81 | // Flags |
81 | // Flags |
82 | uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0; |
82 | uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0; |
83 | 83 | ||
84 | // stats for after flight |
84 | // stats for after flight |
85 | int16_t max_Altimeter = 0; |
85 | int16_t max_Altimeter = 0; |
86 | uint8_t min_UBat = 255; |
86 | uint8_t min_UBat = 255; |
87 | uint16_t max_GroundSpeed = 0; |
87 | uint16_t max_GroundSpeed = 0; |
88 | int16_t max_Distance = 0; |
88 | int16_t max_Distance = 0; |
89 | uint16_t max_FlyingTime = 0; |
89 | uint16_t max_FlyingTime = 0; |
90 | 90 | ||
91 | // flags from last round to check for changes |
91 | // flags from last round to check for changes |
92 | uint8_t old_MKFlags = 0; |
92 | uint8_t old_MKFlags = 0; |
93 | 93 | ||
94 | // store stats description in progmem to save space |
94 | // store stats description in progmem to save space |
95 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
95 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
96 | const char stats_item_1[] PROGMEM = "max Speed :"; |
96 | const char stats_item_1[] PROGMEM = "max Speed :"; |
97 | const char stats_item_2[] PROGMEM = "max Distance:"; |
97 | const char stats_item_2[] PROGMEM = "max Distance:"; |
98 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
98 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
99 | const char stats_item_4[] PROGMEM = "max Time :"; |
99 | const char stats_item_4[] PROGMEM = "max Time :"; |
100 | const char stats_item_5[] PROGMEM = "longitude :"; |
100 | const char stats_item_5[] PROGMEM = "longitude :"; |
101 | const char stats_item_6[] PROGMEM = "latitude :"; |
101 | const char stats_item_6[] PROGMEM = "latitude :"; |
102 | const char stats_item_7[] PROGMEM = "max current :"; |
102 | const char stats_item_7[] PROGMEM = "max current :"; |
103 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
103 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
104 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
104 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
105 | 105 | ||
106 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
106 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
107 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
107 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
108 | const char str_NE[] PROGMEM = "NE"; |
108 | const char str_NE[] PROGMEM = "NE"; |
109 | const char str_E[] PROGMEM = "E "; |
109 | const char str_E[] PROGMEM = "E "; |
110 | const char str_SE[] PROGMEM = "SE"; |
110 | const char str_SE[] PROGMEM = "SE"; |
111 | const char str_S[] PROGMEM = "S "; |
111 | const char str_S[] PROGMEM = "S "; |
112 | const char str_SW[] PROGMEM = "SW"; |
112 | const char str_SW[] PROGMEM = "SW"; |
113 | const char str_W[] PROGMEM = "W "; |
113 | const char str_W[] PROGMEM = "W "; |
114 | const char str_NW[] PROGMEM = "NW"; |
114 | const char str_NW[] PROGMEM = "NW"; |
115 | const char str_N[] PROGMEM = "N "; |
115 | const char str_N[] PROGMEM = "N "; |
116 | const char *directions[8] PROGMEM = { |
116 | const char *directions[8] PROGMEM = { |
117 | str_NE, |
117 | str_NE, |
118 | str_E, |
118 | str_E, |
119 | str_SE, |
119 | str_SE, |
120 | str_S, |
120 | str_S, |
121 | str_SW, |
121 | str_SW, |
122 | str_W, |
122 | str_W, |
123 | str_NW, |
123 | str_NW, |
124 | str_N}; |
124 | str_N}; |
125 | 125 | ||
126 | /* ########################################################################## |
126 | /* ########################################################################## |
127 | * Different display mode function pointers |
127 | * Different display mode function pointers |
128 | * ##########################################################################*/ |
128 | * ##########################################################################*/ |
129 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
129 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
130 | const char str_1[] PROGMEM = "default"; |
130 | const char str_1[] PROGMEM = "default"; |
131 | const char str_2[] PROGMEM = "minimal"; |
131 | const char str_2[] PROGMEM = "minimal"; |
132 | 132 | ||
133 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
133 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
134 | { osd_ncmode_default, (char *)str_1 }, |
134 | { osd_ncmode_default, (char *)str_1 }, |
135 | { osd_ncmode_minimal, (char *)str_2 } |
135 | { osd_ncmode_minimal, (char *)str_2 } |
136 | }; |
136 | }; |
137 | 137 | ||
138 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
138 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
139 | { osd_fcmode_default, (char *)str_1 }, |
139 | { osd_fcmode_default, (char *)str_1 }, |
140 | }; |
140 | }; |
141 | 141 | ||
142 | int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default; |
142 | int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default; |
143 | int (*osd_fcmode)(void) = (int(*)(void)) &osd_ncmode_default; |
143 | int (*osd_fcmode)(void) = (int(*)(void)) &osd_ncmode_default; |
144 | #endif |
144 | #endif |
145 | 145 | ||
146 | /* ########################################################################## |
146 | /* ########################################################################## |
147 | * Interrupt handler |
147 | * Interrupt handler |
148 | * ##########################################################################*/ |
148 | * ##########################################################################*/ |
149 | 149 | ||
150 | /** |
150 | /** |
151 | * handler for undefined Interrupts |
151 | * handler for undefined Interrupts |
152 | * if not defined AVR will reset in case any unhandled interrupts occur |
152 | * if not defined AVR will reset in case any unhandled interrupts occur |
153 | */ |
153 | */ |
154 | ISR(__vector_default) { |
154 | ISR(__vector_default) { |
155 | asm("nop"); |
155 | asm("nop"); |
156 | } |
156 | } |
157 | 157 | ||
158 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
158 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
159 | /* ########################################################################## |
159 | /* ########################################################################## |
160 | * timer stuff |
160 | * timer stuff |
161 | * ##########################################################################*/ |
161 | * ##########################################################################*/ |
- | 162 | ||
- | 163 | static uint8_t delay_spi = 0; |
|
162 | 164 | ||
163 | /** |
165 | /** |
164 | * timer kicks in every 1000uS ^= 1ms |
166 | * timer kicks in every 1000uS ^= 1ms |
165 | */ |
167 | */ |
166 | ISR(TIMER0_COMP_vect) { |
168 | ISR(TIMER0_COMP_vect) { |
167 | if (!timer--) { |
169 | if (!timer--) { |
168 | uptime++; |
170 | uptime++; |
169 | timer = 999; |
171 | timer = 999; |
170 | seconds_since_last_data++; |
172 | seconds_since_last_data++; |
171 | } |
173 | } |
172 | // in case there is still some spi data to send do it now |
174 | // in case there is still some spi data to send do it now |
- | 175 | // delay to give the slave some time to compute values |
|
173 | if (spi_ready && icnt) { |
176 | if (spi_ready && icnt) { |
- | 177 | if (!delay_spi--) { |
|
174 | SPDR = *iptr; |
178 | delay_spi = 8; |
- | 179 | spi_send_next(); |
|
- | 180 | } |
|
175 | } |
181 | } |
176 | } |
182 | } |
177 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
183 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
178 | 184 | ||
179 | /* ########################################################################## |
185 | /* ########################################################################## |
180 | * MAIN |
186 | * MAIN |
181 | * ##########################################################################*/ |
187 | * ##########################################################################*/ |
182 | int main(void) { |
188 | int main(void) { |
183 | 189 | ||
184 | // set up FLAGS, compiler should flatten this one |
190 | // set up FLAGS, compiler should flatten this one |
185 | COSD_FLAGS = (NTSC << 0); |
191 | COSD_FLAGS = (NTSC << 0); |
186 | COSD_FLAGS |= (HUD << 1); |
192 | COSD_FLAGS |= (HUD << 1); |
187 | COSD_FLAGS |= (ARTHORIZON << 2); |
193 | COSD_FLAGS |= (ARTHORIZON << 2); |
188 | COSD_FLAGS |= (BIGVARIO << 3); |
194 | COSD_FLAGS |= (BIGVARIO << 3); |
189 | COSD_FLAGS |= (STATS << 4); |
195 | COSD_FLAGS |= (STATS << 4); |
190 | COSD_FLAGS |= (WARNINGS << 5); |
196 | COSD_FLAGS |= (WARNINGS << 5); |
191 | 197 | ||
192 | // set up Atmega162 Ports |
198 | // set up Atmega162 Ports |
193 | DDRA |= (1 << PA1); // PA1 output (/CS) |
199 | DDRA |= (1 << PA1); // PA1 output (/CS) |
194 | MAX_CS_HIGH |
200 | MAX_CS_HIGH |
195 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
201 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
196 | MAX_SDIN_LOW |
202 | MAX_SDIN_LOW |
197 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
203 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
198 | MAX_SCLK_LOW |
204 | MAX_SCLK_LOW |
199 | DDRA |= (1 << PA5); // PA5 output (RESET) |
205 | DDRA |= (1 << PA5); // PA5 output (RESET) |
200 | MAX_RESET_HIGH |
206 | MAX_RESET_HIGH |
201 | 207 | ||
202 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
208 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
203 | LED1_OFF |
209 | LED1_OFF |
204 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
210 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
205 | LED2_OFF |
211 | LED2_OFF |
206 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
212 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
207 | LED3_OFF |
213 | LED3_OFF |
208 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
214 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
209 | LED4_OFF |
215 | LED4_OFF |
210 | 216 | ||
211 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
217 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
212 | PORTC |= (1 << PC4); // pullup |
218 | PORTC |= (1 << PC4); // pullup |
213 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
219 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
214 | PORTC |= (1 << PC5); // pullup |
220 | PORTC |= (1 << PC5); // pullup |
215 | 221 | ||
216 | // reset the MAX7456 to be sure any undefined states do no harm |
222 | // reset the MAX7456 to be sure any undefined states do no harm |
217 | MAX_RESET_LOW |
223 | MAX_RESET_LOW |
218 | MAX_RESET_HIGH |
224 | MAX_RESET_HIGH |
219 | 225 | ||
220 | // give the FC/NC and the maxim time to come up |
226 | // give the FC/NC and the maxim time to come up |
221 | LED4_ON |
227 | LED4_ON |
222 | _delay_ms(2000); |
228 | _delay_ms(2000); |
223 | LED4_OFF |
229 | LED4_OFF |
224 | 230 | ||
225 | //Pushing NEW chars to the MAX7456 |
231 | //Pushing NEW chars to the MAX7456 |
226 | #if (WRITECHARS != -1) |
232 | #if (WRITECHARS != -1) |
227 | // DISABLE display (VM0) |
233 | // DISABLE display (VM0) |
228 | spi_send_byte(0x00, 0b00000000); |
234 | spi_send_byte(0x00, 0b00000000); |
229 | #include "characters.c" |
235 | #include "characters.c" |
230 | #else |
236 | #else |
231 | // read out config for NTSC/PAL distinguishing |
237 | // read out config for NTSC/PAL distinguishing |
232 | get_eeprom(0); |
238 | get_eeprom(0); |
233 | #endif |
239 | #endif |
234 | 240 | ||
235 | // Setup Video Mode |
241 | // Setup Video Mode |
236 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
242 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
237 | // NTSC + enable display immediately (VM0) |
243 | // NTSC + enable display immediately (VM0) |
238 | spi_send_byte(0x00, 0b00001000); |
244 | spi_send_byte(0x00, 0b00001000); |
239 | 245 | ||
240 | bottom_line = 12; |
246 | bottom_line = 12; |
241 | } else { |
247 | } else { |
242 | // PAL + enable display immediately (VM0) |
248 | // PAL + enable display immediately (VM0) |
243 | spi_send_byte(0x00, 0b01001000); |
249 | spi_send_byte(0x00, 0b01001000); |
244 | 250 | ||
245 | bottom_line = 14; |
251 | bottom_line = 14; |
246 | } |
252 | } |
247 | 253 | ||
248 | /*// clear all display-mem (DMM) |
254 | /*// clear all display-mem (DMM) |
249 | spi_send_byte(0x04, 0b00000100); |
255 | spi_send_byte(0x04, 0b00000100); |
250 | 256 | ||
251 | // clearing takes 12uS according to maxim so lets wait longer |
257 | // clearing takes 12uS according to maxim so lets wait longer |
252 | _delay_us(120); |
258 | _delay_us(120); |
253 | 259 | ||
254 | // 8bit mode |
260 | // 8bit mode |
255 | spi_send_byte(0x04, 0b01000000);*/ |
261 | spi_send_byte(0x04, 0b01000000);*/ |
256 | 262 | ||
257 | // clear display memory and set to 8bit mode |
263 | // clear display memory and set to 8bit mode |
258 | clear(); |
264 | clear(); |
259 | 265 | ||
260 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
266 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
261 | // init usart |
267 | // init usart |
262 | usart1_init(); |
268 | usart1_init(); |
263 | 269 | ||
264 | // set up timer |
270 | // set up timer |
265 | // CTC, Prescaler /64 |
271 | // CTC, Prescaler /64 |
266 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
272 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
267 | 273 | ||
268 | TCNT0 = 0; |
274 | TCNT0 = 0; |
269 | OCR0 = 250; |
275 | OCR0 = 250; |
270 | 276 | ||
271 | // enable timer output compare interrupt |
277 | // enable timer output compare interrupt |
272 | TIMSK &= ~(1 << TOIE0); |
278 | TIMSK &= ~(1 << TOIE0); |
273 | TIMSK |= (1 << OCIE0); |
279 | TIMSK |= (1 << OCIE0); |
274 | 280 | ||
275 | // SPI setup |
281 | // SPI setup |
276 | DDRD |= (1 << PD2); // PD2 output (INT0) |
282 | DDRD |= (1 << PD2); // PD2 output (INT0) |
277 | SpiMasterInit(); |
283 | SpiMasterInit(); |
278 | 284 | ||
279 | // PPM detection setup |
285 | // PPM detection setup |
280 | ppm_init(); |
286 | ppm_init(); |
281 | 287 | ||
282 | // enable interrupts |
288 | // enable interrupts |
283 | 289 | ||
284 | sei(); |
290 | sei(); |
285 | #endif |
291 | #endif |
286 | 292 | ||
287 | //write_ascii_string(2, 7, " CaScAdE "); |
293 | //write_ascii_string(2, 7, " CaScAdE "); |
288 | //write_ascii_string(2, 8, "is TESTING his open source"); |
294 | //write_ascii_string(2, 8, "is TESTING his open source"); |
289 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
295 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
290 | 296 | ||
291 | // we are ready |
297 | // we are ready |
292 | LED3_ON |
298 | LED3_ON |
293 | 299 | ||
294 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
300 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
295 | clear(); |
301 | clear(); |
296 | write_all_chars(); |
302 | write_all_chars(); |
297 | LED1_ON |
303 | LED1_ON |
298 | LED2_ON |
304 | LED2_ON |
299 | LED3_ON |
305 | LED3_ON |
300 | LED4_ON |
306 | LED4_ON |
301 | #else |
307 | #else |
302 | 308 | ||
303 | // clear serial screen |
309 | // clear serial screen |
304 | //usart1_puts("\x1B[2J\x1B[H"); |
310 | //usart1_puts("\x1B[2J\x1B[H"); |
305 | //usart1_puts("hello world!123\r\n"); |
311 | //usart1_puts("hello world!123\r\n"); |
306 | 312 | ||
307 | #if FCONLY |
313 | #if FCONLY |
308 | // request data ever 100ms from FC; |
314 | // request data ever 100ms from FC; |
309 | usart1_request_mk_data(0, 'd', 100); |
315 | usart1_request_mk_data(0, 'd', 100); |
310 | #else |
316 | #else |
311 | // request OSD Data from NC every 100ms |
317 | // request OSD Data from NC every 100ms |
312 | usart1_request_mk_data(1, 'o', 100); |
318 | usart1_request_mk_data(1, 'o', 100); |
313 | 319 | ||
314 | // and disable debug... |
320 | // and disable debug... |
315 | usart1_request_mk_data(0, 'd', 0); |
321 | usart1_request_mk_data(0, 'd', 0); |
316 | #endif |
322 | #endif |
317 | 323 | ||
318 | while (1) { |
324 | while (1) { |
319 | // in case SPI is ready and there is nothing to send right now |
325 | // in case SPI is ready and there is nothing to send right now |
320 | if (!icnt && spi_ready) { |
326 | if (!icnt && spi_ready) { |
321 | // correct transfer ends with d (done) |
327 | // correct transfer ends with d (done) |
322 | if (spi_cmd_buffer[0] == 'd') { |
328 | if (SPI_buffer.buffer.chk == 'd') { |
323 | ampere = spi_cmd_buffer[1] << 8; |
- | |
324 | ampere |= spi_cmd_buffer[2]; |
- | |
325 | ampere_wasted = spi_cmd_buffer[3]; |
- | |
326 | ampere_wasted = ampere_wasted << 8; |
- | |
327 | ampere_wasted |= spi_cmd_buffer[4]; |
- | |
328 | ampere_wasted = ampere_wasted << 8; |
329 | ampere = SPI_buffer.data.ampere; |
329 | ampere_wasted |= spi_cmd_buffer[5]; |
330 | ampere_wasted = SPI_buffer.data.mah; |
330 | ampere_wasted = ampere_wasted << 8; |
- | |
331 | ampere_wasted |= spi_cmd_buffer[6]; |
331 | s_volt = SPI_buffer.data.volt; |
332 | //ampere = *((int16_t *) spi_cmd_buffer + 1); |
- | |
333 | //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3); |
- | |
- | 332 | ||
334 | // if this is the first receival we should print the small A |
333 | // if this is the first receival we should print the small A |
335 | if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) { |
334 | if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) { |
336 | clear(); |
335 | clear(); |
337 | COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN; |
336 | COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN; |
338 | // update this flag |
337 | // update this flag |
339 | COSD_FLAGS2 |= COSD_FLAG_STROMREC; |
338 | COSD_FLAGS2 |= COSD_FLAG_STROMREC; |
340 | } |
339 | } |
341 | //write_ascii_char(8+4*30, 'v'); // valid |
- | |
342 | } else { |
340 | } else { |
343 | // update flags |
341 | // update flags |
344 | COSD_FLAGS2 &= ~COSD_FLAG_STROMREC; |
342 | COSD_FLAGS2 &= ~COSD_FLAG_STROMREC; |
345 | //write_ascii_char(8+4*30, 'i'); // invalid |
- | |
346 | } |
343 | } |
347 | spi_cmd_buffer[0] = 'A'; |
- | |
348 | spi_cmd_buffer[1] = 'B'; |
- | |
349 | spi_cmd_buffer[2] = 'C'; |
- | |
350 | spi_cmd_buffer[3] = 'D'; |
344 | StartTransfer(9); |
351 | spi_cmd_buffer[4] = 'E'; |
- | |
352 | spi_cmd_buffer[5] = 'F'; |
- | |
353 | spi_cmd_buffer[6] = 'G'; |
- | |
354 | StartTransfer((unsigned char*) spi_cmd_buffer, 7); |
- | |
355 | } |
345 | } |
356 | if (rxd_buffer_locked) { |
346 | if (rxd_buffer_locked) { |
357 | #if FCONLY |
347 | #if FCONLY |
358 | if (rxd_buffer[2] == 'D') { // FC Data |
348 | if (rxd_buffer[2] == 'D') { // FC Data |
359 | Decode64(); |
349 | Decode64(); |
360 | debugData = *((DebugOut_t*) pRxData); |
350 | debugData = *((DebugOut_t*) pRxData); |
361 | 351 | ||
362 | // init on first data retrival, distinguished by last battery :) |
352 | // init on first data retrival, distinguished by last battery :) |
363 | if (last_UBat == 255) { |
353 | if (last_UBat == 255) { |
364 | // fix for min_UBat |
354 | // fix for min_UBat |
365 | min_UBat = debugData.Analog[9]; |
355 | min_UBat = debugData.Analog[9]; |
366 | init_cosd(debugData.Analog[9]); |
356 | init_cosd(debugData.Analog[9]); |
367 | } |
357 | } |
368 | osd_fcmode(); |
358 | osd_fcmode(); |
369 | } |
359 | } |
370 | #else |
360 | #else |
371 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
361 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
372 | Decode64(); |
362 | Decode64(); |
373 | naviData = *((NaviData_t*) pRxData); |
363 | naviData = *((NaviData_t*) pRxData); |
374 | 364 | ||
375 | // init on first data retrival, distinguished by last battery :) |
365 | // init on first data retrival, distinguished by last battery :) |
376 | if (last_UBat == 255) { |
366 | if (last_UBat == 255) { |
377 | // fix for min_UBat |
367 | // fix for min_UBat |
378 | min_UBat = naviData.UBat; |
368 | min_UBat = naviData.UBat; |
379 | init_cosd(naviData.UBat); |
369 | init_cosd(naviData.UBat); |
380 | } |
370 | } |
381 | osd_ncmode(); |
371 | osd_ncmode(); |
382 | } |
372 | } |
383 | #endif |
373 | #endif |
384 | rxd_buffer_locked = 0; |
374 | rxd_buffer_locked = 0; |
385 | } |
375 | } |
386 | // handle keypress |
376 | // handle keypress |
387 | if (s1_pressed()) { |
377 | if (s1_pressed()) { |
388 | config_menu(); |
378 | config_menu(); |
389 | } |
379 | } |
390 | if (seconds_since_last_data > 2) { |
380 | if (seconds_since_last_data > 2) { |
391 | #if FCONLY |
381 | #if FCONLY |
392 | // request data ever 100ms from FC; |
382 | // request data ever 100ms from FC; |
393 | usart1_request_mk_data(0, 'd', 100); |
383 | usart1_request_mk_data(0, 'd', 100); |
394 | #else |
384 | #else |
395 | // request OSD Data from NC every 100ms |
385 | // request OSD Data from NC every 100ms |
396 | usart1_request_mk_data(1, 'o', 100); |
386 | usart1_request_mk_data(1, 'o', 100); |
397 | 387 | ||
398 | // and disable debug... |
388 | // and disable debug... |
399 | usart1_request_mk_data(0, 'd', 0); |
389 | usart1_request_mk_data(0, 'd', 0); |
400 | 390 | ||
401 | // reset last time counter |
391 | // reset last time counter |
402 | seconds_since_last_data = 0; |
392 | seconds_since_last_data = 0; |
403 | #endif |
393 | #endif |
404 | } |
394 | } |
405 | } |
395 | } |
406 | #endif |
396 | #endif |
407 | return 0; |
397 | return 0; |
408 | } |
398 | } |
409 | 399 |