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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009-2010 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 "main.h" |
28 | #include "main.h" |
29 | #include <avr/io.h> |
29 | #include <avr/io.h> |
30 | #include <avr/interrupt.h> |
30 | #include <avr/interrupt.h> |
31 | #include <util/delay.h> |
31 | #include <util/delay.h> |
32 | #include <avr/pgmspace.h> |
32 | #include <avr/pgmspace.h> |
33 | #include "max7456_software_spi.h" |
33 | #include "max7456_software_spi.h" |
34 | #ifdef ANTENNATRACKTEST |
34 | #ifdef ANTENNATRACKTEST |
35 | #include "usart0.h" |
35 | #include "usart0.h" |
36 | #endif |
36 | #endif |
37 | #include "usart1.h" |
37 | #include "usart1.h" |
38 | #include "osd_helpers.h" |
38 | #include "osd_helpers.h" |
39 | #include "config.h" |
39 | #include "config.h" |
40 | #include "spi.h" |
40 | #include "spi.h" |
41 | #include "buttons.h" |
41 | #include "buttons.h" |
42 | #include "ppm.h" |
42 | #include "ppm.h" |
43 | #include "osd_ncmode_default.h" |
43 | #include "osd_ncmode_default.h" |
44 | #include "osd_ncmode_minimal.h" |
44 | #include "osd_ncmode_minimal.h" |
45 | #include "osd_fcmode_default.h" |
45 | #include "osd_fcmode_default.h" |
46 | #include "osd_fcmode_jopl.h" |
46 | #include "osd_fcmode_jopl.h" |
47 | 47 | ||
48 | #if WRITECHARS != -1 |
48 | #if WRITECHARS != -1 |
49 | #include "characters.h" |
49 | #include "characters.h" |
50 | #endif |
50 | #endif |
51 | 51 | ||
52 | /* TODO: |
52 | /* TODO: |
53 | * - verifiy correctness of values |
53 | * - verifiy correctness of values |
54 | * - clean up code :) |
54 | * - clean up code :) |
55 | */ |
55 | */ |
56 | 56 | ||
57 | 57 | ||
58 | /* ########################################################################## |
58 | /* ########################################################################## |
59 | * global definitions and global vars |
59 | * global definitions and global vars |
60 | * ##########################################################################*/ |
60 | * ##########################################################################*/ |
61 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
61 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
62 | 62 | ||
63 | volatile NaviData_t naviData; |
63 | volatile NaviData_t naviData; |
64 | volatile str_DebugOut debugData; |
64 | volatile str_DebugOut debugData; |
65 | 65 | ||
66 | // cache old vars for blinking attribute, checkup is faster than full |
66 | // cache old vars for blinking attribute, checkup is faster than full |
67 | // attribute write each time |
67 | // attribute write each time |
68 | volatile uint8_t last_UBat = 255; |
68 | volatile uint8_t last_UBat = 255; |
69 | volatile uint8_t last_RC_Quality = 255; |
69 | volatile uint8_t last_RC_Quality = 255; |
70 | 70 | ||
71 | // 16bit should be enough, normal LiPos don't last that long |
71 | // 16bit should be enough, normal LiPos don't last that long |
72 | volatile uint16_t uptime = 0; |
72 | volatile uint16_t uptime = 0; |
73 | volatile uint16_t timer = 0; |
73 | volatile uint16_t timer = 0; |
74 | volatile uint16_t flytime_fc = 0; |
74 | volatile uint16_t flytime_fc = 0; |
75 | 75 | ||
76 | // remember last time data was received |
76 | // remember last time data was received |
77 | volatile uint8_t seconds_since_last_data = 0; |
77 | volatile uint8_t seconds_since_last_data = 0; |
78 | 78 | ||
79 | // general PAL|NTSC distingiusch stuff |
79 | // general PAL|NTSC distingiusch stuff |
80 | uint8_t top_line = 1; |
80 | uint8_t top_line = 1; |
81 | uint8_t bottom_line = 14; |
81 | uint8_t bottom_line = 14; |
82 | 82 | ||
83 | // battery voltages |
83 | // battery voltages |
84 | uint8_t min_voltage = 0; |
84 | uint8_t min_voltage = 0; |
85 | uint8_t max_voltage = 0; |
85 | uint8_t max_voltage = 0; |
- | 86 | ||
- | 87 | uint8_t scope[8] = { |
|
- | 88 | 5, 5, |
|
- | 89 | 25, 5, |
|
- | 90 | 5, 10, |
|
- | 91 | 25, 10 |
|
- | 92 | }; |
|
86 | 93 | ||
87 | // Flags |
94 | // Flags |
88 | uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
95 | uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
89 | 96 | ||
90 | 97 | ||
91 | 98 | ||
92 | // stats for after flight |
99 | // stats for after flight |
93 | int16_t max_Altimeter = 0; |
100 | int16_t max_Altimeter = 0; |
94 | uint8_t min_UBat = 255; |
101 | uint8_t min_UBat = 255; |
95 | uint16_t max_GroundSpeed = 0; |
102 | uint16_t max_GroundSpeed = 0; |
96 | int16_t max_Distance = 0; |
103 | int16_t max_Distance = 0; |
97 | uint16_t max_FlyingTime = 0; |
104 | uint16_t max_FlyingTime = 0; |
98 | 105 | ||
99 | // flags from last round to check for changes |
106 | // flags from last round to check for changes |
100 | uint8_t old_MKFlags = 0; |
107 | uint8_t old_MKFlags = 0; |
101 | 108 | ||
102 | // store stats description in progmem to save space |
109 | // store stats description in progmem to save space |
103 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
110 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
104 | const char stats_item_1[] PROGMEM = "max Speed :"; |
111 | const char stats_item_1[] PROGMEM = "max Speed :"; |
105 | const char stats_item_2[] PROGMEM = "max Distance:"; |
112 | const char stats_item_2[] PROGMEM = "max Distance:"; |
106 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
113 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
107 | const char stats_item_4[] PROGMEM = "max Time:"; |
114 | const char stats_item_4[] PROGMEM = "max Time:"; |
108 | const char stats_item_5[] PROGMEM = "longitude :"; |
115 | const char stats_item_5[] PROGMEM = "longitude :"; |
109 | const char stats_item_6[] PROGMEM = "latitude:"; |
116 | const char stats_item_6[] PROGMEM = "latitude:"; |
110 | const char stats_item_7[] PROGMEM = "max current :"; |
117 | const char stats_item_7[] PROGMEM = "max current :"; |
111 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
118 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
112 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
119 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
113 | 120 | ||
114 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
121 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
115 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
122 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
116 | const char str_NE[] PROGMEM = "NE"; |
123 | const char str_NE[] PROGMEM = "NE"; |
117 | const char str_E[] PROGMEM = "E "; |
124 | const char str_E[] PROGMEM = "E "; |
118 | const char str_SE[] PROGMEM = "SE"; |
125 | const char str_SE[] PROGMEM = "SE"; |
119 | const char str_S[] PROGMEM = "S "; |
126 | const char str_S[] PROGMEM = "S "; |
120 | const char str_SW[] PROGMEM = "SW"; |
127 | const char str_SW[] PROGMEM = "SW"; |
121 | const char str_W[] PROGMEM = "W "; |
128 | const char str_W[] PROGMEM = "W "; |
122 | const char str_NW[] PROGMEM = "NW"; |
129 | const char str_NW[] PROGMEM = "NW"; |
123 | const char str_N[] PROGMEM = "N "; |
130 | const char str_N[] PROGMEM = "N "; |
124 | const char *directions[8] PROGMEM = { |
131 | const char *directions[8] PROGMEM = { |
125 | str_NE, |
132 | str_NE, |
126 | str_E, |
133 | str_E, |
127 | str_SE, |
134 | str_SE, |
128 | str_S, |
135 | str_S, |
129 | str_SW, |
136 | str_SW, |
130 | str_W, |
137 | str_W, |
131 | str_NW, |
138 | str_NW, |
132 | str_N |
139 | str_N |
133 | }; |
140 | }; |
134 | 141 | ||
135 | /* ########################################################################## |
142 | /* ########################################################################## |
136 | * Different display mode function pointers |
143 | * Different display mode function pointers |
137 | * ##########################################################################*/ |
144 | * ##########################################################################*/ |
138 | const char str_1[] PROGMEM = "default"; |
145 | const char str_1[] PROGMEM = "default"; |
139 | const char str_2[] PROGMEM = "minimal"; |
146 | const char str_2[] PROGMEM = "minimal"; |
140 | const char str_3[] PROGMEM = " jopl"; |
147 | const char str_3[] PROGMEM = " jopl"; |
141 | 148 | ||
142 | #if FCONLY |
149 | #if FCONLY |
143 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
150 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
144 | { osd_fcmode_default, (char *)str_1}, |
151 | { osd_fcmode_default, (char *)str_1}, |
145 | { osd_fcmode_jopl, (char *)str_3} |
152 | { osd_fcmode_jopl, (char *)str_3} |
146 | }; |
153 | }; |
147 | int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default; |
154 | int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default; |
148 | #else |
155 | #else |
149 | 156 | ||
150 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
157 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
151 | { osd_ncmode_default, (char *)str_1}, |
158 | { osd_ncmode_default, (char *)str_1}, |
152 | { osd_ncmode_minimal, (char *)str_2} |
159 | { osd_ncmode_minimal, (char *)str_2} |
153 | }; |
160 | }; |
154 | int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default; |
161 | int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default; |
155 | #endif |
162 | #endif |
156 | 163 | ||
157 | 164 | ||
158 | #endif |
165 | #endif |
159 | 166 | ||
160 | /* ########################################################################## |
167 | /* ########################################################################## |
161 | * Interrupt handler |
168 | * Interrupt handler |
162 | * ##########################################################################*/ |
169 | * ##########################################################################*/ |
163 | 170 | ||
164 | /** |
171 | /** |
165 | * handler for undefined Interrupts |
172 | * handler for undefined Interrupts |
166 | * if not defined AVR will reset in case any unhandled interrupts occur |
173 | * if not defined AVR will reset in case any unhandled interrupts occur |
167 | */ |
174 | */ |
168 | ISR(__vector_default) { |
175 | ISR(__vector_default) { |
169 | asm("nop"); |
176 | asm("nop"); |
170 | } |
177 | } |
171 | 178 | ||
172 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
179 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
173 | /* ########################################################################## |
180 | /* ########################################################################## |
174 | * timer stuff |
181 | * timer stuff |
175 | * ##########################################################################*/ |
182 | * ##########################################################################*/ |
176 | 183 | ||
177 | static uint8_t delay_spi = 0; |
184 | static uint8_t delay_spi = 0; |
178 | 185 | ||
179 | /** |
186 | /** |
180 | * timer kicks in every 1000uS ^= 1ms |
187 | * timer kicks in every 1000uS ^= 1ms |
181 | */ |
188 | */ |
182 | ISR(TIMER0_COMP_vect) { |
189 | ISR(TIMER0_COMP_vect) { |
183 | if (!timer--) { |
190 | if (!timer--) { |
184 | uptime++; |
191 | uptime++; |
185 | 192 | ||
186 | #if FCONLY |
193 | #if FCONLY |
187 | if (debugData.Analog[12] > 10) { |
194 | if (debugData.Analog[12] > 10) { |
188 | flytime_fc++; |
195 | flytime_fc++; |
189 | } |
196 | } |
190 | #endif |
197 | #endif |
191 | 198 | ||
192 | timer = 999; |
199 | timer = 999; |
193 | seconds_since_last_data++; |
200 | seconds_since_last_data++; |
194 | } |
201 | } |
195 | // in case there is still some spi data to send do it now |
202 | // in case there is still some spi data to send do it now |
196 | // delay to give the slave some time to compute values |
203 | // delay to give the slave some time to compute values |
197 | if (spi_ready && icnt) { |
204 | if (spi_ready && icnt) { |
198 | if (!delay_spi--) { |
205 | if (!delay_spi--) { |
199 | delay_spi = 8; |
206 | delay_spi = 8; |
200 | spi_send_next(); |
207 | spi_send_next(); |
201 | } |
208 | } |
202 | } |
209 | } |
203 | } |
210 | } |
204 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
211 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
205 | 212 | ||
206 | /* ########################################################################## |
213 | /* ########################################################################## |
207 | * MAIN |
214 | * MAIN |
208 | * ##########################################################################*/ |
215 | * ##########################################################################*/ |
209 | int main(void) { |
216 | int main(void) { |
210 | // set up FLAGS |
217 | // set up FLAGS |
211 | COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
218 | COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
212 | #if NTSC |
219 | #if NTSC |
213 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
220 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
214 | #endif |
221 | #endif |
215 | #if HUD |
222 | #if HUD |
216 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
223 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
217 | #endif |
224 | #endif |
218 | #if ARTHORIZON |
225 | #if ARTHORIZON |
219 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
226 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
220 | #endif |
227 | #endif |
221 | #if BIGVARIO |
228 | #if BIGVARIO |
222 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
229 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
223 | #endif |
230 | #endif |
224 | #if STATS |
231 | #if STATS |
225 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
232 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
226 | #endif |
233 | #endif |
227 | #if WARNINGS |
234 | #if WARNINGS |
228 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
235 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
229 | #endif |
236 | #endif |
230 | #if FCONLY |
237 | #if FCONLY |
231 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
238 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
232 | #endif |
239 | #endif |
233 | 240 | ||
234 | 241 | ||
235 | // set up Atmega162 Ports |
242 | // set up Atmega162 Ports |
236 | DDRA |= ((1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) |PA3 output (SCLK) | PA5 output (RESET) |
243 | DDRA |= ((1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) |PA3 output (SCLK) | PA5 output (RESET) |
237 | MAX_CS_HIGH |
244 | MAX_CS_HIGH |
238 | MAX_SDIN_LOW |
245 | MAX_SDIN_LOW |
239 | MAX_SCLK_LOW |
246 | MAX_SCLK_LOW |
240 | MAX_RESET_HIGH |
247 | MAX_RESET_HIGH |
241 | 248 | ||
242 | DDRC |= ((1 << PC0) | (1 << PC1) | (1 << PC2) | (1 << PC3)); // PC0 output (LED1 gn) | PC1 output (LED2 rt) | PC2 output (LED3 gn) | PC3 output (LED4 rt) |
249 | DDRC |= ((1 << PC0) | (1 << PC1) | (1 << PC2) | (1 << PC3)); // PC0 output (LED1 gn) | PC1 output (LED2 rt) | PC2 output (LED3 gn) | PC3 output (LED4 rt) |
243 | LED1_OFF |
250 | LED1_OFF |
244 | LED2_OFF |
251 | LED2_OFF |
245 | LED3_OFF |
252 | LED3_OFF |
246 | LED4_OFF |
253 | LED4_OFF |
247 | 254 | ||
248 | DDRC &= ~((1 << PC4) | (1 << PC5)); // PC4 input(MODE) | PC5 input(SET) |
255 | DDRC &= ~((1 << PC4) | (1 << PC5)); // PC4 input(MODE) | PC5 input(SET) |
249 | PORTC |= ((1 << PC4) | (1 << PC5)); // pullup |
256 | PORTC |= ((1 << PC4) | (1 << PC5)); // pullup |
250 | 257 | ||
251 | // reset the MAX7456 to be sure any undefined states do no harm |
258 | // reset the MAX7456 to be sure any undefined states do no harm |
252 | MAX_RESET_LOW |
259 | MAX_RESET_LOW |
253 | MAX_RESET_HIGH |
260 | MAX_RESET_HIGH |
254 | 261 | ||
255 | // give the FC/NC and the maxim time to come up |
262 | // give the FC/NC and the maxim time to come up |
256 | LED4_ON |
263 | LED4_ON |
257 | _delay_ms(1000); |
264 | _delay_ms(1000); |
258 | LED4_OFF |
265 | LED4_OFF |
259 | 266 | ||
260 | //Pushing NEW chars to the MAX7456 |
267 | //Pushing NEW chars to the MAX7456 |
261 | #if (WRITECHARS != -1) |
268 | #if (WRITECHARS != -1) |
262 | // DISABLE display (VM0) |
269 | // DISABLE display (VM0) |
263 | spi_send_byte(0x00, 0b00000000); |
270 | spi_send_byte(0x00, 0b00000000); |
264 | learn_all_chars_pgm(); |
271 | learn_all_chars_pgm(); |
265 | #else |
272 | #else |
266 | // read out config for NTSC/PAL distinguishing |
273 | // read out config for NTSC/PAL distinguishing |
267 | get_eeprom(0); |
274 | get_eeprom(0); |
268 | #endif |
275 | #endif |
269 | 276 | ||
270 | // Setup Video Mode |
277 | // Setup Video Mode |
271 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
278 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
272 | // NTSC + enable display immediately (VM0) |
279 | // NTSC + enable display immediately (VM0) |
273 | spi_send_byte(0x00, 0b00001000); |
280 | spi_send_byte(0x00, 0b00001000); |
274 | 281 | ||
275 | bottom_line = 12; |
282 | bottom_line = 12; |
276 | } else { |
283 | } else { |
277 | // PAL + enable display immediately (VM0) |
284 | // PAL + enable display immediately (VM0) |
278 | spi_send_byte(0x00, 0b01001000); |
285 | spi_send_byte(0x00, 0b01001000); |
279 | 286 | ||
280 | bottom_line = 14; |
287 | bottom_line = 14; |
281 | } |
288 | } |
282 | 289 | ||
283 | /*// clear all display-mem (DMM) |
290 | /*// clear all display-mem (DMM) |
284 | spi_send_byte(0x04, 0b00000100); |
291 | spi_send_byte(0x04, 0b00000100); |
285 | 292 | ||
286 | // clearing takes 12uS according to maxim so lets wait longer |
293 | // clearing takes 12uS according to maxim so lets wait longer |
287 | _delay_us(120); |
294 | _delay_us(120); |
288 | 295 | ||
289 | // 8bit mode |
296 | // 8bit mode |
290 | spi_send_byte(0x04, 0b01000000);*/ |
297 | spi_send_byte(0x04, 0b01000000);*/ |
291 | 298 | ||
292 | // clear display memory and set to 8bit mode |
299 | // clear display memory and set to 8bit mode |
293 | clear(); |
300 | clear(); |
294 | 301 | ||
295 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
302 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
296 | // init usart |
303 | // init usart |
297 | usart1_init(); |
304 | usart1_init(); |
298 | 305 | ||
299 | 306 | ||
300 | 307 | ||
301 | #ifdef ANTENNATRACKTEST |
308 | #ifdef ANTENNATRACKTEST |
302 | usart0_init(); |
309 | usart0_init(); |
303 | #endif |
310 | #endif |
304 | 311 | ||
305 | // keep serial port clean |
312 | // keep serial port clean |
306 | usart1_DisableTXD(); |
313 | usart1_DisableTXD(); |
307 | 314 | ||
308 | // set up timer |
315 | // set up timer |
309 | // CTC, Prescaler /64 |
316 | // CTC, Prescaler /64 |
310 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
317 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
311 | 318 | ||
312 | TCNT0 = 0; |
319 | TCNT0 = 0; |
313 | OCR0 = 250; |
320 | OCR0 = 250; |
314 | 321 | ||
315 | // enable timer output compare interrupt |
322 | // enable timer output compare interrupt |
316 | TIMSK &= ~(1 << TOIE0); |
323 | TIMSK &= ~(1 << TOIE0); |
317 | TIMSK |= (1 << OCIE0); |
324 | TIMSK |= (1 << OCIE0); |
318 | 325 | ||
319 | // SPI setup |
326 | // SPI setup |
320 | DDRD |= (1 << PD2); // PD2 output (INT0) |
327 | DDRD |= (1 << PD2); // PD2 output (INT0) |
321 | SpiMasterInit(); |
328 | SpiMasterInit(); |
322 | 329 | ||
323 | // PPM detection setup |
330 | // PPM detection setup |
324 | ppm_init(); |
331 | ppm_init(); |
325 | 332 | ||
326 | // enable interrupts |
333 | // enable interrupts |
327 | sei(); |
334 | sei(); |
328 | 335 | ||
329 | 336 | ||
330 | //write_ascii_string(2,7, " CaScAdE"); |
337 | //write_ascii_string(2,7, " CaScAdE"); |
331 | //write_ascii_string(2,8, "is TESTING his open source"); |
338 | //write_ascii_string(2,8, "is TESTING his open source"); |
332 | //write_ascii_string(2,9, "EPi OSD Firmware"); |
339 | //write_ascii_string(2,9, "EPi OSD Firmware"); |
333 | 340 | ||
334 | // we are ready |
341 | // we are ready |
335 | LED3_ON |
342 | LED3_ON |
336 | 343 | ||
337 | 344 | ||
338 | // clear serial screen |
345 | // clear serial screen |
339 | //usart1_puts("\x1B[2J\x1B[H"); |
346 | //usart1_puts("\x1B[2J\x1B[H"); |
340 | 347 | ||
341 | COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED; |
348 | COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED; |
342 | #if !FCONLY |
349 | #if !FCONLY |
343 | usart1_request_nc_uart(); |
350 | usart1_request_nc_uart(); |
344 | #endif |
351 | #endif |
345 | 352 | ||
346 | while (1) { |
353 | while (1) { |
347 | // in case SPI is ready and there is nothing to send right now |
354 | // in case SPI is ready and there is nothing to send right now |
348 | if (!icnt && spi_ready) { |
355 | if (!icnt && spi_ready) { |
349 | // correct transfer ends with d (done) |
356 | // correct transfer ends with d (done) |
350 | if (SPI_buffer.buffer.chk == 'd') { |
357 | if (SPI_buffer.buffer.chk == 'd') { |
351 | ampere = SPI_buffer.data.ampere; |
358 | ampere = SPI_buffer.data.ampere; |
352 | ampere_wasted = SPI_buffer.data.mah; |
359 | ampere_wasted = SPI_buffer.data.mah; |
353 | s_volt = SPI_buffer.data.volt; |
360 | s_volt = SPI_buffer.data.volt; |
354 | 361 | ||
355 | // if this is the first receival we should print the small A |
362 | // if this is the first receival we should print the small A |
356 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
363 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
357 | clear(); |
364 | clear(); |
358 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
365 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
359 | // update this flag |
366 | // update this flag |
360 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
367 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
361 | } |
368 | } |
362 | } else { |
369 | } else { |
363 | // update flags |
370 | // update flags |
364 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
371 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
365 | } |
372 | } |
366 | StartTransfer(9); |
373 | StartTransfer(9); |
367 | } |
374 | } |
368 | if (rxd_buffer_locked) { |
375 | if (rxd_buffer_locked) { |
369 | #if FCONLY |
376 | #if FCONLY |
370 | if (rxd_buffer[2] == 'D') { // FC Data |
377 | if (rxd_buffer[2] == 'D') { // FC Data |
371 | Decode64(); |
378 | Decode64(); |
372 | debugData = *((str_DebugOut*)pRxData); |
379 | debugData = *((str_DebugOut*)pRxData); |
373 | 380 | ||
374 | // init on first data retrival, distinguished by last battery :) |
381 | // init on first data retrival, distinguished by last battery :) |
375 | if (last_UBat == 255) { |
382 | if (last_UBat == 255) { |
376 | if (debugData.Analog[9] > 40) { |
383 | if (debugData.Analog[9] > 40) { |
377 | // fix for min_UBat |
384 | // fix for min_UBat |
378 | min_UBat = debugData.Analog[9]; |
385 | min_UBat = debugData.Analog[9]; |
379 | last_UBat = debugData.Analog[9]; |
386 | last_UBat = debugData.Analog[9]; |
380 | init_cosd(last_UBat); |
387 | init_cosd(last_UBat); |
381 | } |
388 | } |
382 | } else { |
389 | } else { |
383 | osd_fcmode(); |
390 | osd_fcmode(); |
384 | } |
391 | } |
385 | seconds_since_last_data = 0; |
392 | seconds_since_last_data = 0; |
386 | } |
393 | } |
387 | #else |
394 | #else |
388 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
395 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
389 | Decode64(); |
396 | Decode64(); |
390 | naviData = *((NaviData_t*)pRxData); |
397 | naviData = *((NaviData_t*)pRxData); |
391 | 398 | ||
392 | // init on first data retrival, distinguished by last battery :) |
399 | // init on first data retrival, distinguished by last battery :) |
393 | if (last_UBat == 255) { |
400 | if (last_UBat == 255) { |
394 | if (naviData.UBat > 40) { |
401 | if (naviData.UBat > 40) { |
395 | // fix for min_UBat |
402 | // fix for min_UBat |
396 | min_UBat = naviData.UBat; |
403 | min_UBat = naviData.UBat; |
397 | last_UBat = naviData.UBat; |
404 | last_UBat = naviData.UBat; |
398 | init_cosd(last_UBat); |
405 | init_cosd(last_UBat); |
399 | } |
406 | } |
400 | } else { |
407 | } else { |
401 | osd_ncmode(); |
408 | osd_ncmode(); |
402 | } |
409 | } |
403 | //seconds_since_last_data = 0; |
410 | //seconds_since_last_data = 0; |
404 | } |
411 | } |
405 | #endif |
412 | #endif |
406 | 413 | ||
407 | // ONLY FOR TESTING |
414 | // ONLY FOR TESTING |
408 | #ifdef ANTENNATRACKTEST |
415 | #ifdef ANTENNATRACKTEST |
409 | #include <stdlib.h> |
416 | #include <stdlib.h> |
410 | //#include <float.h> |
417 | //#include <float.h> |
411 | //#include <math.h> |
418 | //#include <math.h> |
412 | 419 | ||
413 | //usart0_puts("\x1B[2J\x1B[H"); |
420 | //usart0_puts("\x1B[2J\x1B[H"); |
414 | 421 | ||
415 | 422 | ||
416 | /* |
423 | /* |
417 | naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100) |
424 | naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100) |
418 | naviData.HomePositionDeviation.Bearing = 35; // 35� |
425 | naviData.HomePositionDeviation.Bearing = 35; // 35� |
419 | altimeter_offset = 50; // 50m start height |
426 | altimeter_offset = 50; // 50m start height |
420 | naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000) |
427 | naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000) |
421 | */ |
428 | */ |
422 | 429 | ||
423 | static char conv_array[7]; |
430 | static char conv_array[7]; |
424 | 431 | ||
425 | // should be float |
432 | // should be float |
426 | int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset); |
433 | int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset); |
427 | 434 | ||
428 | // we need math.h and some faster AVR :) |
435 | // we need math.h and some faster AVR :) |
429 | //tanheight = rad2deg(atan(tanheight)); |
436 | //tanheight = rad2deg(atan(tanheight)); |
430 | 437 | ||
431 | itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10); |
438 | itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10); |
432 | usart0_puts("Bearing: "); |
439 | usart0_puts("Bearing: "); |
433 | usart0_puts(conv_array); |
440 | usart0_puts(conv_array); |
434 | usart0_puts("\tHeightangle: "); |
441 | usart0_puts("\tHeightangle: "); |
435 | itoa(tanheight, conv_array, 10); |
442 | itoa(tanheight, conv_array, 10); |
436 | usart0_puts(conv_array); |
443 | usart0_puts(conv_array); |
437 | usart0_puts("\r\n"); |
444 | usart0_puts("\r\n"); |
438 | #endif |
445 | #endif |
439 | 446 | ||
440 | 447 | ||
441 | rxd_buffer_locked = 0; |
448 | rxd_buffer_locked = 0; |
442 | } |
449 | } |
443 | // handle keypress |
450 | // handle keypress |
444 | if (s1_pressed()) { |
451 | if (s1_pressed()) { |
445 | config_menu(); |
452 | config_menu(); |
446 | } |
453 | } |
447 | // reqest data untill there has been some answer |
454 | // reqest data untill there has been some answer |
448 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) || |
455 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) || |
449 | // or while not in passive mode |
456 | // or while not in passive mode |
450 | (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) { |
457 | (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) { |
451 | usart1_EnableTXD(); |
458 | usart1_EnableTXD(); |
452 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
459 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
453 | #if FCONLY |
460 | #if FCONLY |
454 | // request data ever 100ms from FC; |
461 | // request data ever 100ms from FC; |
455 | //usart1_request_mk_data(0, 'd', 100); |
462 | //usart1_request_mk_data(0, 'd', 100); |
456 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
463 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
457 | #else |
464 | #else |
458 | // request OSD Data from NC every 100ms |
465 | // request OSD Data from NC every 100ms |
459 | //usart1_request_mk_data(1, 'o', 100); |
466 | //usart1_request_mk_data(1, 'o', 100); |
460 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
467 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
461 | 468 | ||
462 | // and disable debug... |
469 | // and disable debug... |
463 | //usart1_request_mk_data(0, 'd', 0); |
470 | //usart1_request_mk_data(0, 'd', 0); |
464 | #endif |
471 | #endif |
465 | // reset last time counter |
472 | // reset last time counter |
466 | seconds_since_last_data = 0; |
473 | seconds_since_last_data = 0; |
467 | usart1_DisableTXD(); |
474 | usart1_DisableTXD(); |
468 | 475 | ||
469 | // do not spam too much |
476 | // do not spam too much |
470 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) { |
477 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) { |
471 | _delay_ms(300); |
478 | _delay_ms(300); |
472 | } |
479 | } |
473 | } |
480 | } |
474 | } |
481 | } |
475 | 482 | ||
476 | #else // character flashing... |
483 | #else // character flashing... |
477 | clear(); |
484 | clear(); |
478 | write_all_chars(); |
485 | write_all_chars(); |
479 | LED1_ON |
486 | LED1_ON |
480 | LED2_ON |
487 | LED2_ON |
481 | LED3_ON |
488 | LED3_ON |
482 | LED4_ON |
489 | LED4_ON |
483 | while (1) { |
490 | while (1) { |
484 | 491 | ||
485 | }; |
492 | }; |
486 | #endif |
493 | #endif |
487 | 494 | ||
488 | 495 | ||
489 | return 0; |
496 | return 0; |
490 | } |
497 | } |
491 | 498 |