WebSVN - Projects - Diff - Rev 2598 and 2601


/****************************************************************************
 *   Copyright (C) 2009-2018 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 + SVN *
 *   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 "main.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
#include <string.h>
#include "max7456_software_spi.h"
#ifdef ANTENNATRACKTEST 
#include "usart0.h"
#endif
#include "usart1.h"
#include "osd_helpers.h"
#include "config.h"
#include "spi.h"
#include "buttons.h"
#include "ppm.h"
#include "osd_ncmode_default.h"
#include "osd_ncmode_minimal.h"
#include "osd_fcmode_default.h"
#include "osd_fcmode_jopl.h"
 
#if WRITECHARS != -1
#include "characters.h"
#endif
 
/* TODO:
 * - verifiy correctness of values
 * - clean up code :)
 */
 
 
/* ##########################################################################
 * global definitions and global vars
 * ##########################################################################*/
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
 
#if FCONLY
volatile str_DebugOut debugData;
#else
volatile NaviData_t naviData;
volatile Data3D_t data3d;
#endif
 
// 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;
volatile uint16_t flytime_fc = 0;
 
// remember last time data was received
volatile uint8_t seconds_since_last_data = 0;
 
// general PAL|NTSC distingiusch stuff
uint8_t top_line = 1;
uint8_t bottom_line = 14;
 
// battery voltages
uint8_t min_voltage = 0;
uint8_t max_voltage = 0;
 
uint8_t scope[12] = {
    5, 5, 0,
    25, 5, 0,
    5, 10, 0,
    25, 10, 0
};
 
// Flags
uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
 
 
 
// stats for after flight
int16_t max_Altimeter = 0;
uint8_t min_UBat = 255;
uint16_t max_GroundSpeed = 0;
int16_t max_Distance = 0;
uint16_t max_FlyingTime = 0;
 
// flags from last round to check for changes
uint8_t old_MKFlags = 0;
 
char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
 
 
/* ##########################################################################
 * Different display mode function pointers
 * ##########################################################################*/
const char str_1[] PROGMEM = "default";
const char str_2[] PROGMEM = "minimal";
const char str_3[] PROGMEM = " jopl";
 
#if FCONLY
const displaymode_t fcdisplaymodes[] PROGMEM = {
    { osd_fcmode_default, (char *)str_1},
    { osd_fcmode_jopl, (char *)str_3}
};
int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default;
#else
 
const displaymode_t ncdisplaymodes[] PROGMEM = {
    { osd_ncmode_default, (char *)str_1},
    { osd_ncmode_minimal, (char *)str_2}
};
int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default;
#endif
 
 
#endif
 
/* ##########################################################################
 * Interrupt handler
 * ##########################################################################*/
 
/**
 * handler for undefined Interrupts
 * if not defined AVR will reset in case any unhandled interrupts occur
 */
ISR(__vector_default) {
    asm("nop");
}
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
/* ##########################################################################
 * timer stuff
 * ##########################################################################*/
 
static uint8_t delay_spi = 0;
 
/**
 * timer kicks in every 1000uS ^= 1ms
 */
ISR(TIMER0_COMP_vect) {
    if (!timer--) {
        uptime++;
 
#if FCONLY
        if (debugData.Analog[12] > 10) {
            flytime_fc++;
        }
#endif
 
        timer = 999;
        seconds_since_last_data++;
    }
    // in case there is still some spi data to send do it now
    // delay to give the slave some time to compute values
    if (spi_ready && icnt) {
        if (!delay_spi--) {
            delay_spi = 8;
            spi_send_next();
        }
    }
}
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
 
/* ##########################################################################
 * MAIN
 * ##########################################################################*/
int main(void) {
    // set up FLAGS
    COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
#if NTSC
    COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC;
#endif
#if HUD
    COSD_FLAGS_MODES |= COSD_FLAG_HUD;
#endif
#if ARTHORIZON
    COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON;
#endif
#if BIGVARIO
    COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO;
#endif
#if STATS
    COSD_FLAGS_MODES |= COSD_FLAG_STATS;
#endif
#if WARNINGS
    COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS;
#endif
#if FCONLY
    COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE;
#endif
 
 
    // set up Atmega162 Ports
    DDRA |= ((1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) |PA3 output (SCLK) | PA5 output (RESET)
    MAX_CS_HIGH
    MAX_SDIN_LOW
    MAX_SCLK_LOW
    MAX_RESET_HIGH
 
    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)
    LED1_OFF
    LED2_OFF
    LED3_OFF
    LED4_OFF
 
    DDRC &= ~((1 << PC4) | (1 << PC5) | (1 << PC6) | (1 << PC7)); // PC4 input(MODE) | PC5 input(SET) | PC6 input SJ1 | PC7 input SJ2
    PORTC |= ((1 << PC4) | (1 << PC5) | (1 << PC6) | (1 << PC7)); // pullup
 
 
    // reset the MAX7456 to be sure any undefined states do no harm
    MAX_RESET_LOW
    MAX_RESET_HIGH
 
    // give the FC/NC and the maxim time to come up
    LED4_ON
    _delay_ms(1000);
    LED4_OFF
 
    //Pushing NEW chars to the MAX7456
#if (WRITECHARS != -1)
        // DISABLE display (VM0)
        spi_send_byte(0x00, 0b00000000);
    learn_all_chars_pgm();
#else
        // read out config for NTSC/PAL distinguishing
        get_eeprom(0);
#endif
 
    // Setup Video Mode
    if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
        // NTSC + enable display immediately (VM0)
        spi_send_byte(0x00, 0b00001000);
 
        bottom_line = 12;
    } else {
        // PAL + enable display immediately (VM0)
        spi_send_byte(0x00, 0b01001000);
 
        bottom_line = 14;
    }
 
    /*// clear all display-mem (DMM)
    spi_send_byte(0x04, 0b00000100);
 
    // clearing takes 12uS according to maxim so lets wait longer
    _delay_us(120);
 
    // 8bit mode
    spi_send_byte(0x04, 0b01000000);*/
 
    // clear display memory and set to 8bit mode
    clear();
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
    // init usart
    usart1_init();
 
#ifdef SERIALDEBUGDRAW
#define USART0ENABLE 1
#endif
#ifdef ANTENNATRACKTEST
#define USART0ENABLE 1
#endif
 
#ifdef USART0ENABLE
    usart0_init();
    usart0_puts("\x1B[2J\x1B[H");
    usart0_puts("Welcome\r\n");
#endif
 
    // keep serial port clean
    usart1_DisableTXD();
 
    // set up timer
    // CTC, Prescaler /64
    TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00);
 
    TCNT0 = 0;
    OCR0 = 250;
 
    // enable timer output compare interrupt
    TIMSK &= ~(1 << TOIE0);
    TIMSK |= (1 << OCIE0);
 
    // SPI setup
    DDRD |= (1 << PD2); // PD2 output (INT0)
    SpiMasterInit();
 
    // PPM detection setup
    ppm_init();
 
    // enable interrupts
    sei();
 
    //write_ascii_string(2,7, " CaScAdE");
    //write_ascii_string(2,8, "is TESTING his open source");
    //write_ascii_string(2,9, "EPi OSD Firmware");
 
    // we are ready
    LED3_ON
 
 
    // clear serial screen
    //usart1_puts("\x1B[2J\x1B[H");
 
    COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED;
#if !FCONLY
    usart1_request_nc_uart();
#endif
 
    while (1) {
                // debug ppm
                //write_ndigit_number_u(9, 4, ppm, 5, 0);
       
 
        // in case SPI is ready and there is nothing to send right now
        if (!icnt && spi_ready) {
            // correct transfer ends with d (done)
            if (SPI_buffer.buffer.chk == 'd') {
                ampere = SPI_buffer.data.ampere;
                ampere_wasted = SPI_buffer.data.mah;
                s_volt = SPI_buffer.data.volt;
 
                // if this is the first receival we should print the small A
                if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
                    clear();
                    COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
                    // update this flag
                    COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC;
                }
            } else {
                // update flags
                COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
            }
            StartTransfer(9);
        }
        if (rxd_buffer_locked) {
#if FCONLY
            if (rxd_buffer[2] == 'D') { // FC Data
                Decode64();
                //debugData = *((str_DebugOut*)pRxData);
                                memcpy((char*)(&debugData), (char*)pRxData, sizeof(str_DebugOut));
                                rxd_buffer_locked = 0;
 
                // init on first data retrival, distinguished by last battery :)
                if (!(COSD_FLAGS_RUNTIME & COSD_OSD_STARTED)) {
                    if (debugData.Analog[9] > 40) {
                        // fix for min_UBat
                        min_UBat = debugData.Analog[9];
                        last_UBat = debugData.Analog[9];
                        init_cosd(last_UBat);
                                                COSD_FLAGS_RUNTIME |= COSD_OSD_STARTED;
                    }
                } else {
                    osd_fcmode();
                }
                seconds_since_last_data = 0;
            } else {                   
                                rxd_buffer_locked = 0;
                        }
#else
            if (rxd_buffer[2] == 'O') { // NC OSD Data
                Decode64();
                //naviData = *((NaviData_t*)pRxData);
                                memcpy((char*)(&naviData), (char*)pRxData, sizeof(NaviData_t));
                                rxd_buffer_locked = 0;
 
                #ifdef SHIFTBYminus45
                naviData.AngleNick = (int8_t)(((int16_t)naviData.AngleRoll + (int16_t)naviData.AngleNick) / 2);
                naviData.AngleRoll = (int8_t)(((int16_t)naviData.AngleRoll - (int16_t)naviData.AngleNick) / 2);
                naviData.CompassHeading = (naviData.CompassHeading + (360 - 45)) % 360;
                #endif
 
                // init on first data retrival, distinguished by last battery :)
                                if (!(COSD_FLAGS_RUNTIME & COSD_OSD_STARTED)) {
                    if (naviData.UBat > 40) {
                        // fix for min_UBat
                        min_UBat = naviData.UBat;
                        last_UBat = naviData.UBat;
                        init_cosd(last_UBat);
                                                COSD_FLAGS_RUNTIME |= COSD_OSD_STARTED;
                    }
                } else {
                    osd_ncmode();
                }
                //seconds_since_last_data = 0;
//            } else if (rxd_buffer[2] == 'C') { // 3D and Stick Data
//                              Decode64();
//                              memcpy((char*)(&data3d), (char*)pRxData, sizeof(Data3D_t));                             
//                              rxd_buffer_locked = 0;
                        } else {
                                rxd_buffer_locked = 0;
                        }
#endif
 
            // ONLY FOR TESTING
#ifdef ANTENNATRACKTEST 
#include <stdlib.h>
            //#include <float.h>
            //#include <math.h>
 
            //usart0_puts("\x1B[2J\x1B[H");
 
 
            /*
            naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)
            naviData.HomePositionDeviation.Bearing = 35; // 35�
            altimeter_offset = 50; // 50m start height
            naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)
             */
 
            static char conv_array[7];
 
            // should be float
            int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);
 
            // we need math.h and some faster AVR :)
            //tanheight = rad2deg(atan(tanheight));
 
            itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);
            usart0_puts("Bearing: ");
            usart0_puts(conv_array);
            usart0_puts("\tHeightangle: ");
            itoa(tanheight, conv_array, 10);
            usart0_puts(conv_array);
            usart0_puts("\r\n");
#endif
           
        }
        // handle keypress
        if (s1_pressed()) {
            config_menu();
        }
 
        // reqest data untill there has been some answer
        if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) ||
            // or while not in passive mode
            (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) {
            usart1_EnableTXD();
            //usart1_puts_pgm(PSTR("zu alt\r\n"));
#if FCONLY
            // request data ever 100ms from FC;
            //usart1_request_mk_data(0, 'd', 100);
            usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
#else                   
            // request OSD Data from NC every 100ms
            //usart1_request_mk_data(1, 'o', 100);
            usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
 
 
                       
            // request 3D Data from NC every 100ms
            //usart1_request_mk_data(1, 'c', 100);
//                      _delay_ms(10);
//            usart1_puts_pgm(PSTR(REQUEST_3DDATA));
 
            // and disable debug...
            //usart1_request_mk_data(0, 'd', 0);
#endif
            // reset last time counter
            seconds_since_last_data = 0;
            usart1_DisableTXD();
 
            // do not spam too much
            if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) {
                _delay_ms(100);
            }
        }
 
 
        if (SJ1_CLOSED && !(COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we do not want the HUD anymore
            if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
                clear();
            }
            COSD_FLAGS_MODES &= ~COSD_FLAG_HUD;
            COSD_FLAGS_RUNTIME |= COSD_BLANKBYSJ;
        } else if (!SJ1_CLOSED && (COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we want the HUD back again            
            if (!(COSD_FLAGS_MODES & COSD_FLAG_HUD)) {
                COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
            }
            COSD_FLAGS_MODES |= COSD_FLAG_HUD;
            COSD_FLAGS_RUNTIME &= ~(COSD_BLANKBYSJ);
        }
 
    }
 
#else // character flashing...
    clear();
    write_all_chars();
    LED1_ON
    LED2_ON
    LED3_ON
    LED4_ON
    while (1) {
 
    };
#endif
 
 
    return 0;
}
 

Rev 2598	Rev 2601
1	/****************************************************************************	1	/****************************************************************************
2	* Copyright (C) 2009-2017 by Claas Anders "CaScAdE" Rathje *	2	* Copyright (C) 2009-2018 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 <string.h>	33	#include <string.h>
34	#include "max7456_software_spi.h"	34	#include "max7456_software_spi.h"
35	#ifdef ANTENNATRACKTEST	35	#ifdef ANTENNATRACKTEST
36	#include "usart0.h"	36	#include "usart0.h"
37	#endif	37	#endif
38	#include "usart1.h"	38	#include "usart1.h"
39	#include "osd_helpers.h"	39	#include "osd_helpers.h"
40	#include "config.h"	40	#include "config.h"
41	#include "spi.h"	41	#include "spi.h"
42	#include "buttons.h"	42	#include "buttons.h"
43	#include "ppm.h"	43	#include "ppm.h"
44	#include "osd_ncmode_default.h"	44	#include "osd_ncmode_default.h"
45	#include "osd_ncmode_minimal.h"	45	#include "osd_ncmode_minimal.h"
46	#include "osd_fcmode_default.h"	46	#include "osd_fcmode_default.h"
47	#include "osd_fcmode_jopl.h"	47	#include "osd_fcmode_jopl.h"
48		48
49	#if WRITECHARS != -1	49	#if WRITECHARS != -1
50	#include "characters.h"	50	#include "characters.h"
51	#endif	51	#endif
52		52
53	/* TODO:	53	/* TODO:
54	* - verifiy correctness of values	54	* - verifiy correctness of values
55	* - clean up code :)	55	* - clean up code :)
56	*/	56	*/
57		57
58		58
59	/* ##########################################################################	59	/* ##########################################################################
60	* global definitions and global vars	60	* global definitions and global vars
61	* ##########################################################################*/	61	* ##########################################################################*/
62	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	62	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
63		63
64	#if FCONLY	64	#if FCONLY
65	volatile str_DebugOut debugData;	65	volatile str_DebugOut debugData;
66	#else	66	#else
67	volatile NaviData_t naviData;	67	volatile NaviData_t naviData;
68	volatile Data3D_t data3d;	68	volatile Data3D_t data3d;
69	#endif	69	#endif
70		70
71	// cache old vars for blinking attribute, checkup is faster than full	71	// cache old vars for blinking attribute, checkup is faster than full
72	// attribute write each time	72	// attribute write each time
73	volatile uint8_t last_UBat = 255;	73	volatile uint8_t last_UBat = 255;
74	volatile uint8_t last_RC_Quality = 255;	74	volatile uint8_t last_RC_Quality = 255;
75		75
76	// 16bit should be enough, normal LiPos don't last that long	76	// 16bit should be enough, normal LiPos don't last that long
77	volatile uint16_t uptime = 0;	77	volatile uint16_t uptime = 0;
78	volatile uint16_t timer = 0;	78	volatile uint16_t timer = 0;
79	volatile uint16_t flytime_fc = 0;	79	volatile uint16_t flytime_fc = 0;
80		80
81	// remember last time data was received	81	// remember last time data was received
82	volatile uint8_t seconds_since_last_data = 0;	82	volatile uint8_t seconds_since_last_data = 0;
83		83
84	// general PAL\|NTSC distingiusch stuff	84	// general PAL\|NTSC distingiusch stuff
85	uint8_t top_line = 1;	85	uint8_t top_line = 1;
86	uint8_t bottom_line = 14;	86	uint8_t bottom_line = 14;
87		87
88	// battery voltages	88	// battery voltages
89	uint8_t min_voltage = 0;	89	uint8_t min_voltage = 0;
90	uint8_t max_voltage = 0;	90	uint8_t max_voltage = 0;
91		91
92	uint8_t scope[12] = {	92	uint8_t scope[12] = {
93	5, 5, 0,	93	5, 5, 0,
94	25, 5, 0,	94	25, 5, 0,
95	5, 10, 0,	95	5, 10, 0,
96	25, 10, 0	96	25, 10, 0
97	};	97	};
98		98
99	// Flags	99	// Flags
100	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;	100	uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0;
101		101
102		102
103		103
104	// stats for after flight	104	// stats for after flight
105	int16_t max_Altimeter = 0;	105	int16_t max_Altimeter = 0;
106	uint8_t min_UBat = 255;	106	uint8_t min_UBat = 255;
107	uint16_t max_GroundSpeed = 0;	107	uint16_t max_GroundSpeed = 0;
108	int16_t max_Distance = 0;	108	int16_t max_Distance = 0;
109	uint16_t max_FlyingTime = 0;	109	uint16_t max_FlyingTime = 0;
110		110
111	// flags from last round to check for changes	111	// flags from last round to check for changes
112	uint8_t old_MKFlags = 0;	112	uint8_t old_MKFlags = 0;
113		113
114	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	114	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
115	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	115	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
116		116
117		117
118	/* ##########################################################################	118	/* ##########################################################################
119	* Different display mode function pointers	119	* Different display mode function pointers
120	* ##########################################################################*/	120	* ##########################################################################*/
121	const char str_1[] PROGMEM = "default";	121	const char str_1[] PROGMEM = "default";
122	const char str_2[] PROGMEM = "minimal";	122	const char str_2[] PROGMEM = "minimal";
123	const char str_3[] PROGMEM = " jopl";	123	const char str_3[] PROGMEM = " jopl";
124		124
125	#if FCONLY	125	#if FCONLY
126	const displaymode_t fcdisplaymodes[] PROGMEM = {	126	const displaymode_t fcdisplaymodes[] PROGMEM = {
127	{ osd_fcmode_default, (char *)str_1},	127	{ osd_fcmode_default, (char *)str_1},
128	{ osd_fcmode_jopl, (char *)str_3}	128	{ osd_fcmode_jopl, (char *)str_3}
129	};	129	};
130	int (osd_fcmode)(void) = (int()(void)) & osd_fcmode_default;	130	int (osd_fcmode)(void) = (int()(void)) & osd_fcmode_default;
131	#else	131	#else
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	int (osd_ncmode)(void) = (int()(void)) & osd_ncmode_default;	137	int (osd_ncmode)(void) = (int()(void)) & osd_ncmode_default;
138	#endif	138	#endif
139		139
140		140
141	#endif	141	#endif
142		142
143	/* ##########################################################################	143	/* ##########################################################################
144	* Interrupt handler	144	* Interrupt handler
145	* ##########################################################################*/	145	* ##########################################################################*/
146		146
147	/**	147	/**
148	* handler for undefined Interrupts	148	* handler for undefined Interrupts
149	* if not defined AVR will reset in case any unhandled interrupts occur	149	* if not defined AVR will reset in case any unhandled interrupts occur
150	*/	150	*/
151	ISR(__vector_default) {	151	ISR(__vector_default) {
152	asm("nop");	152	asm("nop");
153	}	153	}
154		154
155	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	155	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
156	/* ##########################################################################	156	/* ##########################################################################
157	* timer stuff	157	* timer stuff
158	* ##########################################################################*/	158	* ##########################################################################*/
159		159
160	static uint8_t delay_spi = 0;	160	static uint8_t delay_spi = 0;
161		161
162	/**	162	/**
163	* timer kicks in every 1000uS ^= 1ms	163	* timer kicks in every 1000uS ^= 1ms
164	*/	164	*/
165	ISR(TIMER0_COMP_vect) {	165	ISR(TIMER0_COMP_vect) {
166	if (!timer--) {	166	if (!timer--) {
167	uptime++;	167	uptime++;
168		168
169	#if FCONLY	169	#if FCONLY
170	if (debugData.Analog[12] > 10) {	170	if (debugData.Analog[12] > 10) {
171	flytime_fc++;	171	flytime_fc++;
172	}	172	}
173	#endif	173	#endif
174		174
175	timer = 999;	175	timer = 999;
176	seconds_since_last_data++;	176	seconds_since_last_data++;
177	}	177	}
178	// in case there is still some spi data to send do it now	178	// in case there is still some spi data to send do it now
179	// delay to give the slave some time to compute values	179	// delay to give the slave some time to compute values
180	if (spi_ready && icnt) {	180	if (spi_ready && icnt) {
181	if (!delay_spi--) {	181	if (!delay_spi--) {
182	delay_spi = 8;	182	delay_spi = 8;
183	spi_send_next();	183	spi_send_next();
184	}	184	}
185	}	185	}
186	}	186	}
187	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	187	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
188		188
189	/* ##########################################################################	189	/* ##########################################################################
190	* MAIN	190	* MAIN
191	* ##########################################################################*/	191	* ##########################################################################*/
192	int main(void) {	192	int main(void) {
193	// set up FLAGS	193	// set up FLAGS
194	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;	194	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
195	#if NTSC	195	#if NTSC
196	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;	196	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;
197	#endif	197	#endif
198	#if HUD	198	#if HUD
199	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;	199	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;
200	#endif	200	#endif
201	#if ARTHORIZON	201	#if ARTHORIZON
202	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;	202	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;
203	#endif	203	#endif
204	#if BIGVARIO	204	#if BIGVARIO
205	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;	205	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;
206	#endif	206	#endif
207	#if STATS	207	#if STATS
208	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;	208	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;
209	#endif	209	#endif
210	#if WARNINGS	210	#if WARNINGS
211	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;	211	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;
212	#endif	212	#endif
213	#if FCONLY	213	#if FCONLY
214	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;	214	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;
215	#endif	215	#endif
216		216
217		217
218	// set up Atmega162 Ports	218	// set up Atmega162 Ports
219	DDRA \|= ((1 << PA1) \| (1 << PA2) \| (1 << PA3) \| (1 << PA5)); // PA1 output (/CS) \| PA2 output (SDIN) \|PA3 output (SCLK) \| PA5 output (RESET)	219	DDRA \|= ((1 << PA1) \| (1 << PA2) \| (1 << PA3) \| (1 << PA5)); // PA1 output (/CS) \| PA2 output (SDIN) \|PA3 output (SCLK) \| PA5 output (RESET)
220	MAX_CS_HIGH	220	MAX_CS_HIGH
221	MAX_SDIN_LOW	221	MAX_SDIN_LOW
222	MAX_SCLK_LOW	222	MAX_SCLK_LOW
223	MAX_RESET_HIGH	223	MAX_RESET_HIGH
224		224
225	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)	225	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)
226	LED1_OFF	226	LED1_OFF
227	LED2_OFF	227	LED2_OFF
228	LED3_OFF	228	LED3_OFF
229	LED4_OFF	229	LED4_OFF
230		230
231	DDRC &= ~((1 << PC4) \| (1 << PC5) \| (1 << PC6) \| (1 << PC7)); // PC4 input(MODE) \| PC5 input(SET) \| PC6 input SJ1 \| PC7 input SJ2	231	DDRC &= ~((1 << PC4) \| (1 << PC5) \| (1 << PC6) \| (1 << PC7)); // PC4 input(MODE) \| PC5 input(SET) \| PC6 input SJ1 \| PC7 input SJ2
232	PORTC \|= ((1 << PC4) \| (1 << PC5) \| (1 << PC6) \| (1 << PC7)); // pullup	232	PORTC \|= ((1 << PC4) \| (1 << PC5) \| (1 << PC6) \| (1 << PC7)); // pullup
233		233
234		234
235	// reset the MAX7456 to be sure any undefined states do no harm	235	// reset the MAX7456 to be sure any undefined states do no harm
236	MAX_RESET_LOW	236	MAX_RESET_LOW
237	MAX_RESET_HIGH	237	MAX_RESET_HIGH
238		238
239	// give the FC/NC and the maxim time to come up	239	// give the FC/NC and the maxim time to come up
240	LED4_ON	240	LED4_ON
241	_delay_ms(1000);	241	_delay_ms(1000);
242	LED4_OFF	242	LED4_OFF
243		243
244	//Pushing NEW chars to the MAX7456	244	//Pushing NEW chars to the MAX7456
245	#if (WRITECHARS != -1)	245	#if (WRITECHARS != -1)
246	// DISABLE display (VM0)	246	// DISABLE display (VM0)
247	spi_send_byte(0x00, 0b00000000);	247	spi_send_byte(0x00, 0b00000000);
248	learn_all_chars_pgm();	248	learn_all_chars_pgm();
249	#else	249	#else
250	// read out config for NTSC/PAL distinguishing	250	// read out config for NTSC/PAL distinguishing
251	get_eeprom(0);	251	get_eeprom(0);
252	#endif	252	#endif
253		253
254	// Setup Video Mode	254	// Setup Video Mode
255	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {	255	if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) {
256	// NTSC + enable display immediately (VM0)	256	// NTSC + enable display immediately (VM0)
257	spi_send_byte(0x00, 0b00001000);	257	spi_send_byte(0x00, 0b00001000);
258		258
259	bottom_line = 12;	259	bottom_line = 12;
260	} else {	260	} else {
261	// PAL + enable display immediately (VM0)	261	// PAL + enable display immediately (VM0)
262	spi_send_byte(0x00, 0b01001000);	262	spi_send_byte(0x00, 0b01001000);
263		263
264	bottom_line = 14;	264	bottom_line = 14;
265	}	265	}
266		266
267	/*// clear all display-mem (DMM)	267	/*// clear all display-mem (DMM)
268	spi_send_byte(0x04, 0b00000100);	268	spi_send_byte(0x04, 0b00000100);
269		269
270	// clearing takes 12uS according to maxim so lets wait longer	270	// clearing takes 12uS according to maxim so lets wait longer
271	_delay_us(120);	271	_delay_us(120);
272		272
273	// 8bit mode	273	// 8bit mode
274	spi_send_byte(0x04, 0b01000000);*/	274	spi_send_byte(0x04, 0b01000000);*/
275		275
276	// clear display memory and set to 8bit mode	276	// clear display memory and set to 8bit mode
277	clear();	277	clear();
278		278
279	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	279	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
280	// init usart	280	// init usart
281	usart1_init();	281	usart1_init();
282		282
283	#ifdef SERIALDEBUGDRAW	283	#ifdef SERIALDEBUGDRAW
284	#define USART0ENABLE 1	284	#define USART0ENABLE 1
285	#endif	285	#endif
286	#ifdef ANTENNATRACKTEST	286	#ifdef ANTENNATRACKTEST
287	#define USART0ENABLE 1	287	#define USART0ENABLE 1
288	#endif	288	#endif
289		289
290	#ifdef USART0ENABLE	290	#ifdef USART0ENABLE
291	usart0_init();	291	usart0_init();
292	usart0_puts("\x1B[2J\x1B[H");	292	usart0_puts("\x1B[2J\x1B[H");
293	usart0_puts("Welcome\r\n");	293	usart0_puts("Welcome\r\n");
294	#endif	294	#endif
295		295
296	// keep serial port clean	296	// keep serial port clean
297	usart1_DisableTXD();	297	usart1_DisableTXD();
298		298
299	// set up timer	299	// set up timer
300	// CTC, Prescaler /64	300	// CTC, Prescaler /64
301	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);	301	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);
302		302
303	TCNT0 = 0;	303	TCNT0 = 0;
304	OCR0 = 250;	304	OCR0 = 250;
305		305
306	// enable timer output compare interrupt	306	// enable timer output compare interrupt
307	TIMSK &= ~(1 << TOIE0);	307	TIMSK &= ~(1 << TOIE0);
308	TIMSK \|= (1 << OCIE0);	308	TIMSK \|= (1 << OCIE0);
309		309
310	// SPI setup	310	// SPI setup
311	DDRD \|= (1 << PD2); // PD2 output (INT0)	311	DDRD \|= (1 << PD2); // PD2 output (INT0)
312	SpiMasterInit();	312	SpiMasterInit();
313		313
314	// PPM detection setup	314	// PPM detection setup
315	ppm_init();	315	ppm_init();
316		316
317	// enable interrupts	317	// enable interrupts
318	sei();	318	sei();
319		319
320	//write_ascii_string(2,7, " CaScAdE");	320	//write_ascii_string(2,7, " CaScAdE");
321	//write_ascii_string(2,8, "is TESTING his open source");	321	//write_ascii_string(2,8, "is TESTING his open source");
322	//write_ascii_string(2,9, "EPi OSD Firmware");	322	//write_ascii_string(2,9, "EPi OSD Firmware");
323		323
324	// we are ready	324	// we are ready
325	LED3_ON	325	LED3_ON
326		326
327		327
328	// clear serial screen	328	// clear serial screen
329	//usart1_puts("\x1B[2J\x1B[H");	329	//usart1_puts("\x1B[2J\x1B[H");
330		330
331	COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED;	331	COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED;
332	#if !FCONLY	332	#if !FCONLY
333	usart1_request_nc_uart();	333	usart1_request_nc_uart();
334	#endif	334	#endif
335		335
336	while (1) {	336	while (1) {
337	// debug ppm	337	// debug ppm
338	//write_ndigit_number_u(9, 4, ppm, 5, 0);	338	//write_ndigit_number_u(9, 4, ppm, 5, 0);
339		339
340		340
341	// in case SPI is ready and there is nothing to send right now	341	// in case SPI is ready and there is nothing to send right now
342	if (!icnt && spi_ready) {	342	if (!icnt && spi_ready) {
343	// correct transfer ends with d (done)	343	// correct transfer ends with d (done)
344	if (SPI_buffer.buffer.chk == 'd') {	344	if (SPI_buffer.buffer.chk == 'd') {
345	ampere = SPI_buffer.data.ampere;	345	ampere = SPI_buffer.data.ampere;
346	ampere_wasted = SPI_buffer.data.mah;	346	ampere_wasted = SPI_buffer.data.mah;
347	s_volt = SPI_buffer.data.volt;	347	s_volt = SPI_buffer.data.volt;
348		348
349	// if this is the first receival we should print the small A	349	// if this is the first receival we should print the small A
350	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {	350	if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) {
351	clear();	351	clear();
352	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;	352	COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN;
353	// update this flag	353	// update this flag
354	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;	354	COSD_FLAGS_RUNTIME \|= COSD_FLAG_STROMREC;
355	}	355	}
356	} else {	356	} else {
357	// update flags	357	// update flags
358	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;	358	COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC;
359	}	359	}
360	StartTransfer(9);	360	StartTransfer(9);
361	}	361	}
362	if (rxd_buffer_locked) {	362	if (rxd_buffer_locked) {
363	#if FCONLY	363	#if FCONLY
364	if (rxd_buffer[2] == 'D') { // FC Data	364	if (rxd_buffer[2] == 'D') { // FC Data
365	Decode64();	365	Decode64();
366	//debugData = ((str_DebugOut)pRxData);	366	//debugData = ((str_DebugOut)pRxData);
367	memcpy((char)(&debugData), (char)pRxData, sizeof(str_DebugOut));	367	memcpy((char)(&debugData), (char)pRxData, sizeof(str_DebugOut));
368	rxd_buffer_locked = 0;	368	rxd_buffer_locked = 0;
369		369
370	// init on first data retrival, distinguished by last battery :)	370	// init on first data retrival, distinguished by last battery :)
371	if (!(COSD_FLAGS_RUNTIME & COSD_OSD_STARTED)) {	371	if (!(COSD_FLAGS_RUNTIME & COSD_OSD_STARTED)) {
372	if (debugData.Analog[9] > 40) {	372	if (debugData.Analog[9] > 40) {
373	// fix for min_UBat	373	// fix for min_UBat
374	min_UBat = debugData.Analog[9];	374	min_UBat = debugData.Analog[9];
375	last_UBat = debugData.Analog[9];	375	last_UBat = debugData.Analog[9];
376	init_cosd(last_UBat);	376	init_cosd(last_UBat);
377	COSD_FLAGS_RUNTIME \|= COSD_OSD_STARTED;	377	COSD_FLAGS_RUNTIME \|= COSD_OSD_STARTED;
378	}	378	}
379	} else {	379	} else {
380	osd_fcmode();	380	osd_fcmode();
381	}	381	}
382	seconds_since_last_data = 0;	382	seconds_since_last_data = 0;
383	} else {	383	} else {
384	rxd_buffer_locked = 0;	384	rxd_buffer_locked = 0;
385	}	385	}
386	#else	386	#else
387	if (rxd_buffer[2] == 'O') { // NC OSD Data	387	if (rxd_buffer[2] == 'O') { // NC OSD Data
388	Decode64();	388	Decode64();
389	//naviData = ((NaviData_t)pRxData);	389	//naviData = ((NaviData_t)pRxData);
390	memcpy((char)(&naviData), (char)pRxData, sizeof(NaviData_t));	390	memcpy((char)(&naviData), (char)pRxData, sizeof(NaviData_t));
391	rxd_buffer_locked = 0;	391	rxd_buffer_locked = 0;
392		392
393	#ifdef SHIFTBYminus45	393	#ifdef SHIFTBYminus45
394	naviData.AngleNick = (int8_t)(((int16_t)naviData.AngleRoll + (int16_t)naviData.AngleNick) / 2);	394	naviData.AngleNick = (int8_t)(((int16_t)naviData.AngleRoll + (int16_t)naviData.AngleNick) / 2);
395	naviData.AngleRoll = (int8_t)(((int16_t)naviData.AngleRoll - (int16_t)naviData.AngleNick) / 2);	395	naviData.AngleRoll = (int8_t)(((int16_t)naviData.AngleRoll - (int16_t)naviData.AngleNick) / 2);
396	naviData.CompassHeading = (naviData.CompassHeading + (360 - 45)) % 360;	396	naviData.CompassHeading = (naviData.CompassHeading + (360 - 45)) % 360;
397	#endif	397	#endif
398		398
399	// init on first data retrival, distinguished by last battery :)	399	// init on first data retrival, distinguished by last battery :)
400	if (!(COSD_FLAGS_RUNTIME & COSD_OSD_STARTED)) {	400	if (!(COSD_FLAGS_RUNTIME & COSD_OSD_STARTED)) {
401	if (naviData.UBat > 40) {	401	if (naviData.UBat > 40) {
402	// fix for min_UBat	402	// fix for min_UBat
403	min_UBat = naviData.UBat;	403	min_UBat = naviData.UBat;
404	last_UBat = naviData.UBat;	404	last_UBat = naviData.UBat;
405	init_cosd(last_UBat);	405	init_cosd(last_UBat);
406	COSD_FLAGS_RUNTIME \|= COSD_OSD_STARTED;	406	COSD_FLAGS_RUNTIME \|= COSD_OSD_STARTED;
407	}	407	}
408	} else {	408	} else {
409	osd_ncmode();	409	osd_ncmode();
410	}	410	}
411	//seconds_since_last_data = 0;	411	//seconds_since_last_data = 0;
412	// } else if (rxd_buffer[2] == 'C') { // 3D and Stick Data	412	// } else if (rxd_buffer[2] == 'C') { // 3D and Stick Data
413	// Decode64();	413	// Decode64();
414	// memcpy((char)(&data3d), (char)pRxData, sizeof(Data3D_t));	414	// memcpy((char)(&data3d), (char)pRxData, sizeof(Data3D_t));
415	// rxd_buffer_locked = 0;	415	// rxd_buffer_locked = 0;
416	} else {	416	} else {
417	rxd_buffer_locked = 0;	417	rxd_buffer_locked = 0;
418	}	418	}
419	#endif	419	#endif
420		420
421	// ONLY FOR TESTING	421	// ONLY FOR TESTING
422	#ifdef ANTENNATRACKTEST	422	#ifdef ANTENNATRACKTEST
423	#include <stdlib.h>	423	#include <stdlib.h>
424	//#include <float.h>	424	//#include <float.h>
425	//#include <math.h>	425	//#include <math.h>
426		426
427	//usart0_puts("\x1B[2J\x1B[H");	427	//usart0_puts("\x1B[2J\x1B[H");
428		428
429		429
430	/*	430	/*
431	naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)	431	naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100)
432	naviData.HomePositionDeviation.Bearing = 35; // 35�	432	naviData.HomePositionDeviation.Bearing = 35; // 35�
433	altimeter_offset = 50; // 50m start height	433	altimeter_offset = 50; // 50m start height
434	naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)	434	naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000)
435	*/	435	*/
436		436
437	static char conv_array[7];	437	static char conv_array[7];
438		438
439	// should be float	439	// should be float
440	int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);	440	int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset);
441		441
442	// we need math.h and some faster AVR :)	442	// we need math.h and some faster AVR :)
443	//tanheight = rad2deg(atan(tanheight));	443	//tanheight = rad2deg(atan(tanheight));
444		444
445	itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);	445	itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10);
446	usart0_puts("Bearing: ");	446	usart0_puts("Bearing: ");
447	usart0_puts(conv_array);	447	usart0_puts(conv_array);
448	usart0_puts("\tHeightangle: ");	448	usart0_puts("\tHeightangle: ");
449	itoa(tanheight, conv_array, 10);	449	itoa(tanheight, conv_array, 10);
450	usart0_puts(conv_array);	450	usart0_puts(conv_array);
451	usart0_puts("\r\n");	451	usart0_puts("\r\n");
452	#endif	452	#endif
453		453
454	}	454	}
455	// handle keypress	455	// handle keypress
456	if (s1_pressed()) {	456	if (s1_pressed()) {
457	config_menu();	457	config_menu();
458	}	458	}
459		459
460	// reqest data untill there has been some answer	460	// reqest data untill there has been some answer
461	if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) \|\|	461	if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) \|\|
462	// or while not in passive mode	462	// or while not in passive mode
463	(seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) {	463	(seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) {
464	usart1_EnableTXD();	464	usart1_EnableTXD();
465	//usart1_puts_pgm(PSTR("zu alt\r\n"));	465	//usart1_puts_pgm(PSTR("zu alt\r\n"));
466	#if FCONLY	466	#if FCONLY
467	// request data ever 100ms from FC;	467	// request data ever 100ms from FC;
468	//usart1_request_mk_data(0, 'd', 100);	468	//usart1_request_mk_data(0, 'd', 100);
469	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));	469	usart1_puts_pgm(PSTR(REQUEST_DBG_DATA));
470	#else	470	#else
471	// request OSD Data from NC every 100ms	471	// request OSD Data from NC every 100ms
472	//usart1_request_mk_data(1, 'o', 100);	472	//usart1_request_mk_data(1, 'o', 100);
473	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));	473	usart1_puts_pgm(PSTR(REQUEST_OSD_DATA));
474		474
475		475
476		476
477	// request 3D Data from NC every 100ms	477	// request 3D Data from NC every 100ms
478	//usart1_request_mk_data(1, 'c', 100);	478	//usart1_request_mk_data(1, 'c', 100);
479	// _delay_ms(10);	479	// _delay_ms(10);
480	// usart1_puts_pgm(PSTR(REQUEST_3DDATA));	480	// usart1_puts_pgm(PSTR(REQUEST_3DDATA));
481		481
482	// and disable debug...	482	// and disable debug...
483	//usart1_request_mk_data(0, 'd', 0);	483	//usart1_request_mk_data(0, 'd', 0);
484	#endif	484	#endif
485	// reset last time counter	485	// reset last time counter
486	seconds_since_last_data = 0;	486	seconds_since_last_data = 0;
487	usart1_DisableTXD();	487	usart1_DisableTXD();
488		488
489	// do not spam too much	489	// do not spam too much
490	if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) {	490	if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) {
491	_delay_ms(100);	491	_delay_ms(100);
492	}	492	}
493	}	493	}
494		494
495		495
496	if (SJ1_CLOSED && !(COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we do not want the HUD anymore	496	if (SJ1_CLOSED && !(COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we do not want the HUD anymore
497	if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {	497	if (COSD_FLAGS_MODES & COSD_FLAG_HUD) {
498	clear();	498	clear();
499	}	499	}
500	COSD_FLAGS_MODES &= ~COSD_FLAG_HUD;	500	COSD_FLAGS_MODES &= ~COSD_FLAG_HUD;

Subversion Repositories Projects

(root)/C-OSD/trunk/main.c @ 1465 - Rev 2598 → 2601