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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009-2012 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009-2012 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 "max7456_software_spi.h" |
34 | #include "max7456_software_spi.h" |
34 | #ifdef ANTENNATRACKTEST |
35 | #ifdef ANTENNATRACKTEST |
35 | #include "usart0.h" |
36 | #include "usart0.h" |
36 | #endif |
37 | #endif |
37 | #include "usart1.h" |
38 | #include "usart1.h" |
38 | #include "osd_helpers.h" |
39 | #include "osd_helpers.h" |
39 | #include "config.h" |
40 | #include "config.h" |
40 | #include "spi.h" |
41 | #include "spi.h" |
41 | #include "buttons.h" |
42 | #include "buttons.h" |
42 | #include "ppm.h" |
43 | #include "ppm.h" |
43 | #include "osd_ncmode_default.h" |
44 | #include "osd_ncmode_default.h" |
44 | #include "osd_ncmode_minimal.h" |
45 | #include "osd_ncmode_minimal.h" |
45 | #include "osd_fcmode_default.h" |
46 | #include "osd_fcmode_default.h" |
46 | #include "osd_fcmode_jopl.h" |
47 | #include "osd_fcmode_jopl.h" |
47 | 48 | ||
48 | #if WRITECHARS != -1 |
49 | #if WRITECHARS != -1 |
49 | #include "characters.h" |
50 | #include "characters.h" |
50 | #endif |
51 | #endif |
51 | 52 | ||
52 | /* TODO: |
53 | /* TODO: |
53 | * - verifiy correctness of values |
54 | * - verifiy correctness of values |
54 | * - clean up code :) |
55 | * - clean up code :) |
55 | */ |
56 | */ |
56 | 57 | ||
57 | 58 | ||
58 | /* ########################################################################## |
59 | /* ########################################################################## |
59 | * global definitions and global vars |
60 | * global definitions and global vars |
60 | * ##########################################################################*/ |
61 | * ##########################################################################*/ |
61 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
62 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
62 | 63 | ||
63 | #if FCONLY |
64 | #if FCONLY |
64 | volatile str_DebugOut debugData; |
65 | volatile str_DebugOut debugData; |
65 | #else |
66 | #else |
66 | volatile NaviData_t naviData; |
67 | volatile NaviData_t naviData; |
- | 68 | volatile Data3D_t data3d; |
|
67 | #endif |
69 | #endif |
68 | 70 | ||
69 | // cache old vars for blinking attribute, checkup is faster than full |
71 | // cache old vars for blinking attribute, checkup is faster than full |
70 | // attribute write each time |
72 | // attribute write each time |
71 | volatile uint8_t last_UBat = 255; |
73 | volatile uint8_t last_UBat = 255; |
72 | volatile uint8_t last_RC_Quality = 255; |
74 | volatile uint8_t last_RC_Quality = 255; |
73 | 75 | ||
74 | // 16bit should be enough, normal LiPos don't last that long |
76 | // 16bit should be enough, normal LiPos don't last that long |
75 | volatile uint16_t uptime = 0; |
77 | volatile uint16_t uptime = 0; |
76 | volatile uint16_t timer = 0; |
78 | volatile uint16_t timer = 0; |
77 | volatile uint16_t flytime_fc = 0; |
79 | volatile uint16_t flytime_fc = 0; |
78 | 80 | ||
79 | // remember last time data was received |
81 | // remember last time data was received |
80 | volatile uint8_t seconds_since_last_data = 0; |
82 | volatile uint8_t seconds_since_last_data = 0; |
81 | 83 | ||
82 | // general PAL|NTSC distingiusch stuff |
84 | // general PAL|NTSC distingiusch stuff |
83 | uint8_t top_line = 1; |
85 | uint8_t top_line = 1; |
84 | uint8_t bottom_line = 14; |
86 | uint8_t bottom_line = 14; |
85 | 87 | ||
86 | // battery voltages |
88 | // battery voltages |
87 | uint8_t min_voltage = 0; |
89 | uint8_t min_voltage = 0; |
88 | uint8_t max_voltage = 0; |
90 | uint8_t max_voltage = 0; |
89 | 91 | ||
90 | uint8_t scope[12] = { |
92 | uint8_t scope[12] = { |
91 | 5, 5, 0, |
93 | 5, 5, 0, |
92 | 25, 5, 0, |
94 | 25, 5, 0, |
93 | 5, 10, 0, |
95 | 5, 10, 0, |
94 | 25, 10, 0 |
96 | 25, 10, 0 |
95 | }; |
97 | }; |
96 | 98 | ||
97 | // Flags |
99 | // Flags |
98 | 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; |
99 | 101 | ||
100 | 102 | ||
101 | 103 | ||
102 | // stats for after flight |
104 | // stats for after flight |
103 | int16_t max_Altimeter = 0; |
105 | int16_t max_Altimeter = 0; |
104 | uint8_t min_UBat = 255; |
106 | uint8_t min_UBat = 255; |
105 | uint16_t max_GroundSpeed = 0; |
107 | uint16_t max_GroundSpeed = 0; |
106 | int16_t max_Distance = 0; |
108 | int16_t max_Distance = 0; |
107 | uint16_t max_FlyingTime = 0; |
109 | uint16_t max_FlyingTime = 0; |
108 | 110 | ||
109 | // flags from last round to check for changes |
111 | // flags from last round to check for changes |
110 | uint8_t old_MKFlags = 0; |
112 | uint8_t old_MKFlags = 0; |
111 | 113 | ||
112 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
114 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
113 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
115 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
114 | 116 | ||
115 | 117 | ||
116 | /* ########################################################################## |
118 | /* ########################################################################## |
117 | * Different display mode function pointers |
119 | * Different display mode function pointers |
118 | * ##########################################################################*/ |
120 | * ##########################################################################*/ |
119 | const char str_1[] PROGMEM = "default"; |
121 | const char str_1[] PROGMEM = "default"; |
120 | const char str_2[] PROGMEM = "minimal"; |
122 | const char str_2[] PROGMEM = "minimal"; |
121 | const char str_3[] PROGMEM = " jopl"; |
123 | const char str_3[] PROGMEM = " jopl"; |
122 | 124 | ||
123 | #if FCONLY |
125 | #if FCONLY |
124 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
126 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
125 | { osd_fcmode_default, (char *)str_1}, |
127 | { osd_fcmode_default, (char *)str_1}, |
126 | { osd_fcmode_jopl, (char *)str_3} |
128 | { osd_fcmode_jopl, (char *)str_3} |
127 | }; |
129 | }; |
128 | int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default; |
130 | int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default; |
129 | #else |
131 | #else |
130 | 132 | ||
131 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
133 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
132 | { osd_ncmode_default, (char *)str_1}, |
134 | { osd_ncmode_default, (char *)str_1}, |
133 | { osd_ncmode_minimal, (char *)str_2} |
135 | { osd_ncmode_minimal, (char *)str_2} |
134 | }; |
136 | }; |
135 | int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default; |
137 | int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default; |
136 | #endif |
138 | #endif |
137 | 139 | ||
138 | 140 | ||
139 | #endif |
141 | #endif |
140 | 142 | ||
141 | /* ########################################################################## |
143 | /* ########################################################################## |
142 | * Interrupt handler |
144 | * Interrupt handler |
143 | * ##########################################################################*/ |
145 | * ##########################################################################*/ |
144 | 146 | ||
145 | /** |
147 | /** |
146 | * handler for undefined Interrupts |
148 | * handler for undefined Interrupts |
147 | * 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 |
148 | */ |
150 | */ |
149 | ISR(__vector_default) { |
151 | ISR(__vector_default) { |
150 | asm("nop"); |
152 | asm("nop"); |
151 | } |
153 | } |
152 | 154 | ||
153 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
155 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
154 | /* ########################################################################## |
156 | /* ########################################################################## |
155 | * timer stuff |
157 | * timer stuff |
156 | * ##########################################################################*/ |
158 | * ##########################################################################*/ |
157 | 159 | ||
158 | static uint8_t delay_spi = 0; |
160 | static uint8_t delay_spi = 0; |
159 | 161 | ||
160 | /** |
162 | /** |
161 | * timer kicks in every 1000uS ^= 1ms |
163 | * timer kicks in every 1000uS ^= 1ms |
162 | */ |
164 | */ |
163 | ISR(TIMER0_COMP_vect) { |
165 | ISR(TIMER0_COMP_vect) { |
164 | if (!timer--) { |
166 | if (!timer--) { |
165 | uptime++; |
167 | uptime++; |
166 | 168 | ||
167 | #if FCONLY |
169 | #if FCONLY |
168 | if (debugData.Analog[12] > 10) { |
170 | if (debugData.Analog[12] > 10) { |
169 | flytime_fc++; |
171 | flytime_fc++; |
170 | } |
172 | } |
171 | #endif |
173 | #endif |
172 | 174 | ||
173 | timer = 999; |
175 | timer = 999; |
174 | seconds_since_last_data++; |
176 | seconds_since_last_data++; |
175 | } |
177 | } |
176 | // 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 |
177 | // delay to give the slave some time to compute values |
179 | // delay to give the slave some time to compute values |
178 | if (spi_ready && icnt) { |
180 | if (spi_ready && icnt) { |
179 | if (!delay_spi--) { |
181 | if (!delay_spi--) { |
180 | delay_spi = 8; |
182 | delay_spi = 8; |
181 | spi_send_next(); |
183 | spi_send_next(); |
182 | } |
184 | } |
183 | } |
185 | } |
184 | } |
186 | } |
185 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
187 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
186 | 188 | ||
187 | /* ########################################################################## |
189 | /* ########################################################################## |
188 | * MAIN |
190 | * MAIN |
189 | * ##########################################################################*/ |
191 | * ##########################################################################*/ |
190 | int main(void) { |
192 | int main(void) { |
191 | // set up FLAGS |
193 | // set up FLAGS |
192 | 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; |
193 | #if NTSC |
195 | #if NTSC |
194 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
196 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
195 | #endif |
197 | #endif |
196 | #if HUD |
198 | #if HUD |
197 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
199 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
198 | #endif |
200 | #endif |
199 | #if ARTHORIZON |
201 | #if ARTHORIZON |
200 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
202 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
201 | #endif |
203 | #endif |
202 | #if BIGVARIO |
204 | #if BIGVARIO |
203 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
205 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
204 | #endif |
206 | #endif |
205 | #if STATS |
207 | #if STATS |
206 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
208 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
207 | #endif |
209 | #endif |
208 | #if WARNINGS |
210 | #if WARNINGS |
209 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
211 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
210 | #endif |
212 | #endif |
211 | #if FCONLY |
213 | #if FCONLY |
212 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
214 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
213 | #endif |
215 | #endif |
214 | 216 | ||
215 | 217 | ||
216 | // set up Atmega162 Ports |
218 | // set up Atmega162 Ports |
217 | 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) |
218 | MAX_CS_HIGH |
220 | MAX_CS_HIGH |
219 | MAX_SDIN_LOW |
221 | MAX_SDIN_LOW |
220 | MAX_SCLK_LOW |
222 | MAX_SCLK_LOW |
221 | MAX_RESET_HIGH |
223 | MAX_RESET_HIGH |
222 | 224 | ||
223 | 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) |
224 | LED1_OFF |
226 | LED1_OFF |
225 | LED2_OFF |
227 | LED2_OFF |
226 | LED3_OFF |
228 | LED3_OFF |
227 | LED4_OFF |
229 | LED4_OFF |
228 | 230 | ||
229 | 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 |
230 | PORTC |= ((1 << PC4) | (1 << PC5) | (1 << PC6) | (1 << PC7)); // pullup |
232 | PORTC |= ((1 << PC4) | (1 << PC5) | (1 << PC6) | (1 << PC7)); // pullup |
231 | 233 | ||
232 | 234 | ||
233 | // 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 |
234 | MAX_RESET_LOW |
236 | MAX_RESET_LOW |
235 | MAX_RESET_HIGH |
237 | MAX_RESET_HIGH |
236 | 238 | ||
237 | // give the FC/NC and the maxim time to come up |
239 | // give the FC/NC and the maxim time to come up |
238 | LED4_ON |
240 | LED4_ON |
239 | _delay_ms(1000); |
241 | _delay_ms(1000); |
240 | LED4_OFF |
242 | LED4_OFF |
241 | 243 | ||
242 | //Pushing NEW chars to the MAX7456 |
244 | //Pushing NEW chars to the MAX7456 |
243 | #if (WRITECHARS != -1) |
245 | #if (WRITECHARS != -1) |
244 | // DISABLE display (VM0) |
246 | // DISABLE display (VM0) |
245 | spi_send_byte(0x00, 0b00000000); |
247 | spi_send_byte(0x00, 0b00000000); |
246 | learn_all_chars_pgm(); |
248 | learn_all_chars_pgm(); |
247 | #else |
249 | #else |
248 | // read out config for NTSC/PAL distinguishing |
250 | // read out config for NTSC/PAL distinguishing |
249 | get_eeprom(0); |
251 | get_eeprom(0); |
250 | #endif |
252 | #endif |
251 | 253 | ||
252 | // Setup Video Mode |
254 | // Setup Video Mode |
253 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
255 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
254 | // NTSC + enable display immediately (VM0) |
256 | // NTSC + enable display immediately (VM0) |
255 | spi_send_byte(0x00, 0b00001000); |
257 | spi_send_byte(0x00, 0b00001000); |
256 | 258 | ||
257 | bottom_line = 12; |
259 | bottom_line = 12; |
258 | } else { |
260 | } else { |
259 | // PAL + enable display immediately (VM0) |
261 | // PAL + enable display immediately (VM0) |
260 | spi_send_byte(0x00, 0b01001000); |
262 | spi_send_byte(0x00, 0b01001000); |
261 | 263 | ||
262 | bottom_line = 14; |
264 | bottom_line = 14; |
263 | } |
265 | } |
264 | 266 | ||
265 | /*// clear all display-mem (DMM) |
267 | /*// clear all display-mem (DMM) |
266 | spi_send_byte(0x04, 0b00000100); |
268 | spi_send_byte(0x04, 0b00000100); |
267 | 269 | ||
268 | // clearing takes 12uS according to maxim so lets wait longer |
270 | // clearing takes 12uS according to maxim so lets wait longer |
269 | _delay_us(120); |
271 | _delay_us(120); |
270 | 272 | ||
271 | // 8bit mode |
273 | // 8bit mode |
272 | spi_send_byte(0x04, 0b01000000);*/ |
274 | spi_send_byte(0x04, 0b01000000);*/ |
273 | 275 | ||
274 | // clear display memory and set to 8bit mode |
276 | // clear display memory and set to 8bit mode |
275 | clear(); |
277 | clear(); |
276 | 278 | ||
277 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
279 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
278 | // init usart |
280 | // init usart |
279 | usart1_init(); |
281 | usart1_init(); |
280 | 282 | ||
281 | #ifdef SERIALDEBUGDRAW |
283 | #ifdef SERIALDEBUGDRAW |
282 | #define USART0ENABLE 1 |
284 | #define USART0ENABLE 1 |
283 | #endif |
285 | #endif |
284 | #ifdef ANTENNATRACKTEST |
286 | #ifdef ANTENNATRACKTEST |
285 | #define USART0ENABLE 1 |
287 | #define USART0ENABLE 1 |
286 | #endif |
288 | #endif |
287 | 289 | ||
288 | #ifdef USART0ENABLE |
290 | #ifdef USART0ENABLE |
289 | usart0_init(); |
291 | usart0_init(); |
290 | usart0_puts("\x1B[2J\x1B[H"); |
292 | usart0_puts("\x1B[2J\x1B[H"); |
291 | usart0_puts("Welcome\r\n"); |
293 | usart0_puts("Welcome\r\n"); |
292 | #endif |
294 | #endif |
293 | 295 | ||
294 | // keep serial port clean |
296 | // keep serial port clean |
295 | usart1_DisableTXD(); |
297 | usart1_DisableTXD(); |
296 | 298 | ||
297 | // set up timer |
299 | // set up timer |
298 | // CTC, Prescaler /64 |
300 | // CTC, Prescaler /64 |
299 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
301 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
300 | 302 | ||
301 | TCNT0 = 0; |
303 | TCNT0 = 0; |
302 | OCR0 = 250; |
304 | OCR0 = 250; |
303 | 305 | ||
304 | // enable timer output compare interrupt |
306 | // enable timer output compare interrupt |
305 | TIMSK &= ~(1 << TOIE0); |
307 | TIMSK &= ~(1 << TOIE0); |
306 | TIMSK |= (1 << OCIE0); |
308 | TIMSK |= (1 << OCIE0); |
307 | 309 | ||
308 | // SPI setup |
310 | // SPI setup |
309 | DDRD |= (1 << PD2); // PD2 output (INT0) |
311 | DDRD |= (1 << PD2); // PD2 output (INT0) |
310 | SpiMasterInit(); |
312 | SpiMasterInit(); |
311 | 313 | ||
312 | // PPM detection setup |
314 | // PPM detection setup |
313 | ppm_init(); |
315 | ppm_init(); |
314 | 316 | ||
315 | // enable interrupts |
317 | // enable interrupts |
316 | sei(); |
318 | sei(); |
317 | 319 | ||
318 | //write_ascii_string(2,7, " CaScAdE"); |
320 | //write_ascii_string(2,7, " CaScAdE"); |
319 | //write_ascii_string(2,8, "is TESTING his open source"); |
321 | //write_ascii_string(2,8, "is TESTING his open source"); |
320 | //write_ascii_string(2,9, "EPi OSD Firmware"); |
322 | //write_ascii_string(2,9, "EPi OSD Firmware"); |
321 | 323 | ||
322 | // we are ready |
324 | // we are ready |
323 | LED3_ON |
325 | LED3_ON |
324 | 326 | ||
325 | 327 | ||
326 | // clear serial screen |
328 | // clear serial screen |
327 | //usart1_puts("\x1B[2J\x1B[H"); |
329 | //usart1_puts("\x1B[2J\x1B[H"); |
328 | 330 | ||
329 | COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED; |
331 | COSD_FLAGS_RUNTIME &= ~COSD_DATARECEIVED; |
330 | #if !FCONLY |
332 | #if !FCONLY |
331 | usart1_request_nc_uart(); |
333 | usart1_request_nc_uart(); |
332 | #endif |
334 | #endif |
333 | 335 | ||
334 | while (1) { |
336 | while (1) { |
335 | // in case SPI is ready and there is nothing to send right now |
337 | // in case SPI is ready and there is nothing to send right now |
336 | if (!icnt && spi_ready) { |
338 | if (!icnt && spi_ready) { |
337 | // correct transfer ends with d (done) |
339 | // correct transfer ends with d (done) |
338 | if (SPI_buffer.buffer.chk == 'd') { |
340 | if (SPI_buffer.buffer.chk == 'd') { |
339 | ampere = SPI_buffer.data.ampere; |
341 | ampere = SPI_buffer.data.ampere; |
340 | ampere_wasted = SPI_buffer.data.mah; |
342 | ampere_wasted = SPI_buffer.data.mah; |
341 | s_volt = SPI_buffer.data.volt; |
343 | s_volt = SPI_buffer.data.volt; |
342 | 344 | ||
343 | // if this is the first receival we should print the small A |
345 | // if this is the first receival we should print the small A |
344 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
346 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
345 | clear(); |
347 | clear(); |
346 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
348 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
347 | // update this flag |
349 | // update this flag |
348 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
350 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
349 | } |
351 | } |
350 | } else { |
352 | } else { |
351 | // update flags |
353 | // update flags |
352 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
354 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
353 | } |
355 | } |
354 | StartTransfer(9); |
356 | StartTransfer(9); |
355 | } |
357 | } |
356 | if (rxd_buffer_locked) { |
358 | if (rxd_buffer_locked) { |
357 | #if FCONLY |
359 | #if FCONLY |
358 | if (rxd_buffer[2] == 'D') { // FC Data |
360 | if (rxd_buffer[2] == 'D') { // FC Data |
359 | Decode64(); |
361 | Decode64(); |
360 | debugData = *((str_DebugOut*)pRxData); |
362 | debugData = *((str_DebugOut*)pRxData); |
361 | 363 | ||
362 | // init on first data retrival, distinguished by last battery :) |
364 | // init on first data retrival, distinguished by last battery :) |
363 | if (last_UBat == 255) { |
365 | if (last_UBat == 255) { |
364 | if (debugData.Analog[9] > 40) { |
366 | if (debugData.Analog[9] > 40) { |
365 | // fix for min_UBat |
367 | // fix for min_UBat |
366 | min_UBat = debugData.Analog[9]; |
368 | min_UBat = debugData.Analog[9]; |
367 | last_UBat = debugData.Analog[9]; |
369 | last_UBat = debugData.Analog[9]; |
368 | init_cosd(last_UBat); |
370 | init_cosd(last_UBat); |
369 | } |
371 | } |
370 | } else { |
372 | } else { |
371 | osd_fcmode(); |
373 | osd_fcmode(); |
372 | } |
374 | } |
373 | seconds_since_last_data = 0; |
375 | seconds_since_last_data = 0; |
374 | } |
376 | } |
375 | #else |
377 | #else |
376 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
378 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
377 | Decode64(); |
379 | Decode64(); |
378 | naviData = *((NaviData_t*)pRxData); |
380 | //naviData = *((NaviData_t*)pRxData); |
- | 381 | memcpy((char*)(&naviData), (char*)pRxData, sizeof(NaviData_t)); |
|
- | 382 | rxd_buffer_locked = 0; |
|
379 | 383 | ||
380 | #ifdef SHIFTBYminus45 |
384 | #ifdef SHIFTBYminus45 |
381 | naviData.AngleNick = (int8_t)(((int16_t)naviData.AngleRoll + (int16_t)naviData.AngleNick) / 2); |
385 | naviData.AngleNick = (int8_t)(((int16_t)naviData.AngleRoll + (int16_t)naviData.AngleNick) / 2); |
382 | naviData.AngleRoll = (int8_t)(((int16_t)naviData.AngleRoll - (int16_t)naviData.AngleNick) / 2); |
386 | naviData.AngleRoll = (int8_t)(((int16_t)naviData.AngleRoll - (int16_t)naviData.AngleNick) / 2); |
383 | naviData.CompassHeading = (naviData.CompassHeading + (360 - 45)) % 360; |
387 | naviData.CompassHeading = (naviData.CompassHeading + (360 - 45)) % 360; |
384 | #endif |
388 | #endif |
385 | 389 | ||
386 | // init on first data retrival, distinguished by last battery :) |
390 | // init on first data retrival, distinguished by last battery :) |
387 | if (last_UBat == 255) { |
391 | if (last_UBat == 255) { |
388 | if (naviData.UBat > 40) { |
392 | if (naviData.UBat > 40) { |
389 | // fix for min_UBat |
393 | // fix for min_UBat |
390 | min_UBat = naviData.UBat; |
394 | min_UBat = naviData.UBat; |
391 | last_UBat = naviData.UBat; |
395 | last_UBat = naviData.UBat; |
392 | init_cosd(last_UBat); |
396 | init_cosd(last_UBat); |
393 | } |
397 | } |
394 | } else { |
398 | } else { |
395 | osd_ncmode(); |
399 | osd_ncmode(); |
396 | } |
400 | } |
397 | //seconds_since_last_data = 0; |
401 | //seconds_since_last_data = 0; |
- | 402 | // } else if (rxd_buffer[2] == 'C') { // 3D and Stick Data |
|
- | 403 | // Decode64(); |
|
- | 404 | // memcpy((char*)(&data3d), (char*)pRxData, sizeof(Data3D_t)); |
|
- | 405 | // rxd_buffer_locked = 0; |
|
398 | } |
406 | } else { |
- | 407 | rxd_buffer_locked = 0; |
|
- | 408 | } |
|
399 | #endif |
409 | #endif |
400 | 410 | ||
401 | // ONLY FOR TESTING |
411 | // ONLY FOR TESTING |
402 | #ifdef ANTENNATRACKTEST |
412 | #ifdef ANTENNATRACKTEST |
403 | #include <stdlib.h> |
413 | #include <stdlib.h> |
404 | //#include <float.h> |
414 | //#include <float.h> |
405 | //#include <math.h> |
415 | //#include <math.h> |
406 | 416 | ||
407 | //usart0_puts("\x1B[2J\x1B[H"); |
417 | //usart0_puts("\x1B[2J\x1B[H"); |
408 | 418 | ||
409 | 419 | ||
410 | /* |
420 | /* |
411 | naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100) |
421 | naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100) |
412 | naviData.HomePositionDeviation.Bearing = 35; // 35� |
422 | naviData.HomePositionDeviation.Bearing = 35; // 35� |
413 | altimeter_offset = 50; // 50m start height |
423 | altimeter_offset = 50; // 50m start height |
414 | naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000) |
424 | naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000) |
415 | */ |
425 | */ |
416 | 426 | ||
417 | static char conv_array[7]; |
427 | static char conv_array[7]; |
418 | 428 | ||
419 | // should be float |
429 | // should be float |
420 | int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset); |
430 | int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset); |
421 | 431 | ||
422 | // we need math.h and some faster AVR :) |
432 | // we need math.h and some faster AVR :) |
423 | //tanheight = rad2deg(atan(tanheight)); |
433 | //tanheight = rad2deg(atan(tanheight)); |
424 | 434 | ||
425 | itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10); |
435 | itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10); |
426 | usart0_puts("Bearing: "); |
436 | usart0_puts("Bearing: "); |
427 | usart0_puts(conv_array); |
437 | usart0_puts(conv_array); |
428 | usart0_puts("\tHeightangle: "); |
438 | usart0_puts("\tHeightangle: "); |
429 | itoa(tanheight, conv_array, 10); |
439 | itoa(tanheight, conv_array, 10); |
430 | usart0_puts(conv_array); |
440 | usart0_puts(conv_array); |
431 | usart0_puts("\r\n"); |
441 | usart0_puts("\r\n"); |
432 | #endif |
442 | #endif |
433 | rxd_buffer_locked = 0; |
- | |
- | 443 | ||
434 | } |
444 | } |
435 | // handle keypress |
445 | // handle keypress |
436 | if (s1_pressed()) { |
446 | if (s1_pressed()) { |
437 | config_menu(); |
447 | config_menu(); |
438 | } |
448 | } |
439 | // reqest data untill there has been some answer |
449 | // reqest data untill there has been some answer |
440 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) || |
450 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED) || |
441 | // or while not in passive mode |
451 | // or while not in passive mode |
442 | (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) { |
452 | (seconds_since_last_data > 0 && !(COSD_FLAGS_CONFIG & COSD_FLAG_PASSIVE))) { |
443 | usart1_EnableTXD(); |
453 | usart1_EnableTXD(); |
444 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
454 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
445 | #if FCONLY |
455 | #if FCONLY |
446 | // request data ever 100ms from FC; |
456 | // request data ever 100ms from FC; |
447 | //usart1_request_mk_data(0, 'd', 100); |
457 | //usart1_request_mk_data(0, 'd', 100); |
448 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
458 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
449 | #else |
459 | #else |
450 | // request OSD Data from NC every 100ms |
460 | // request OSD Data from NC every 100ms |
451 | //usart1_request_mk_data(1, 'o', 100); |
461 | //usart1_request_mk_data(1, 'o', 100); |
452 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
462 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
- | 463 | ||
- | 464 | ||
- | 465 | ||
- | 466 | // request 3D Data from NC every 100ms |
|
- | 467 | //usart1_request_mk_data(1, 'c', 100); |
|
- | 468 | // _delay_ms(10); |
|
- | 469 | // usart1_puts_pgm(PSTR(REQUEST_3DDATA)); |
|
453 | 470 | ||
454 | // and disable debug... |
471 | // and disable debug... |
455 | //usart1_request_mk_data(0, 'd', 0); |
472 | //usart1_request_mk_data(0, 'd', 0); |
456 | #endif |
473 | #endif |
457 | // reset last time counter |
474 | // reset last time counter |
458 | seconds_since_last_data = 0; |
475 | seconds_since_last_data = 0; |
459 | usart1_DisableTXD(); |
476 | usart1_DisableTXD(); |
460 | 477 | ||
461 | // do not spam too much |
478 | // do not spam too much |
462 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) { |
479 | if (!(COSD_FLAGS_RUNTIME & COSD_DATARECEIVED)) { |
463 | _delay_ms(300); |
480 | _delay_ms(100); |
464 | } |
481 | } |
465 | } |
482 | } |
466 | 483 | ||
467 | 484 | ||
468 | if (SJ1_CLOSED && !(COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we do not want the HUD anymore |
485 | if (SJ1_CLOSED && !(COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we do not want the HUD anymore |
469 | if (COSD_FLAGS_MODES & COSD_FLAG_HUD) { |
486 | if (COSD_FLAGS_MODES & COSD_FLAG_HUD) { |
470 | clear(); |
487 | clear(); |
471 | } |
488 | } |
472 | COSD_FLAGS_MODES &= ~COSD_FLAG_HUD; |
489 | COSD_FLAGS_MODES &= ~COSD_FLAG_HUD; |
473 | COSD_FLAGS_RUNTIME |= COSD_BLANKBYSJ; |
490 | COSD_FLAGS_RUNTIME |= COSD_BLANKBYSJ; |
474 | } else if (!SJ1_CLOSED && (COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we want the HUD back again |
491 | } else if (!SJ1_CLOSED && (COSD_FLAGS_RUNTIME & COSD_BLANKBYSJ)) { // we want the HUD back again |
475 | if (!(COSD_FLAGS_MODES & COSD_FLAG_HUD)) { |
492 | if (!(COSD_FLAGS_MODES & COSD_FLAG_HUD)) { |
476 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
493 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
477 | } |
494 | } |
478 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
495 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
479 | COSD_FLAGS_RUNTIME &= ~(COSD_BLANKBYSJ); |
496 | COSD_FLAGS_RUNTIME &= ~(COSD_BLANKBYSJ); |
480 | } |
497 | } |
481 | 498 | ||
482 | } |
499 | } |
483 | 500 | ||
484 | #else // character flashing... |
501 | #else // character flashing... |
485 | clear(); |
502 | clear(); |
486 | write_all_chars(); |
503 | write_all_chars(); |
487 | LED1_ON |
504 | LED1_ON |
488 | LED2_ON |
505 | LED2_ON |
489 | LED3_ON |
506 | LED3_ON |
490 | LED4_ON |
507 | LED4_ON |
491 | while (1) { |
508 | while (1) { |
492 | 509 | ||
493 | }; |
510 | }; |
494 | #endif |
511 | #endif |
495 | 512 | ||
496 | 513 | ||
497 | return 0; |
514 | return 0; |
498 | } |
515 | } |
499 | 516 |