WebSVN - Projects - Diff - Rev 514 and 523


/****************************************************************************
 *   Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje                    *
 *   admiralcascade@gmail.com                                               *
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
 *                                                                          *
 *   This program is free software; you can redistribute it and/or modify   *
 *   it under the terms of the GNU General Public License as published by   *
 *   the Free Software Foundation; either version 2 of the License.         *
 *                                                                          *
 *   This program is distributed in the hope that it will be useful,        *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
 *   GNU General Public License for more details.                           *
 *                                                                          *
 *   You should have received a copy of the GNU General Public License      *
 *   along with this program; if not, write to the                          *
 *   Free Software Foundation, Inc.,                                        *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
 *                                                                          *
 *                                                                          *
 *   Credits to:                                                            *
 *   Holger Buss & Ingo Busker from mikrokopter.de for the MK project + 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 <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <avr/pgmspace.h>
#include "main.h"
#include "max7456_software_spi.h"
#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"
 
#if WRITECHARS != -1
#include "characters.h"
#endif
 
/* TODO:
 * - verifiy correctness of values
 * - clean up code :)
 */
 
 
/* ##########################################################################
 * global definitions and global vars
 * ##########################################################################*/
 
volatile uint16_t setsReceived = 0;
 
volatile NaviData_t naviData;
volatile DebugOut_t debugData;
 
// cache old vars for blinking attribute, checkup is faster than full
// attribute write each time
volatile uint8_t last_UBat = 255;
volatile uint8_t last_RC_Quality = 255;
 
// 16bit should be enough, normal LiPos don't last that long
volatile uint16_t uptime = 0;
volatile uint16_t timer = 0;
 
// 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;
 
// Flags
uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0;
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
 
// 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;
 
// store stats description in progmem to save space
const char stats_item_0[] PROGMEM = "max Altitude:";
const char stats_item_1[] PROGMEM = "max Speed   :";
const char stats_item_2[] PROGMEM = "max Distance:";
const char stats_item_3[] PROGMEM = "min Voltage :";
const char stats_item_4[] PROGMEM = "max Time    :";
const char stats_item_5[] PROGMEM = "longitude   :";
const char stats_item_6[] PROGMEM = "latitude    :";
const char stats_item_7[] PROGMEM = "max current :";
const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
 
//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
    //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
const char str_NE[] PROGMEM = "NE";
const char str_E[] PROGMEM  = "E ";
const char str_SE[] PROGMEM = "SE";
const char str_S[] PROGMEM  = "S ";
const char str_SW[] PROGMEM = "SW";
const char str_W[] PROGMEM  = "W ";
const char str_NW[] PROGMEM = "NW";
const char str_N[] PROGMEM  = "N ";
const char *directions[8] PROGMEM = {
        str_NE,
        str_E,
        str_SE,
        str_S,
        str_SW,
        str_W,
        str_NW,
        str_N};
 
/* ##########################################################################
 * Different display mode function pointers
 * ##########################################################################*/
const char str_1[] PROGMEM  = "default";
const char str_2[] PROGMEM  = "minimal";
 
const displaymode_t ncdisplaymodes[] PROGMEM = {
   { osd_ncmode_default, (char *)str_1 },
   { osd_ncmode_minimal, (char *)str_2 }
};
 
const displaymode_t fcdisplaymodes[] PROGMEM = {
   { osd_fcmode_default, (char *)str_1 },
};
 
int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default;
int (*osd_fcmode)(void) = (int(*)(void)) &osd_ncmode_default;
#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++;
        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))#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); // PA1 output (/CS)
    MAX_CS_HIGH
    DDRA |= (1 << PA2); // PA2 output (SDIN)
    MAX_SDIN_LOW
    DDRA |= (1 << PA3); // PA3 output (SCLK)
    MAX_SCLK_LOW
    DDRA |= (1 << PA5); // PA5 output (RESET)
    MAX_RESET_HIGH
 
    DDRC |= (1 << PC0); // PC0 output (LED1 gn)
    LED1_OFF
    DDRC |= (1 << PC1); // PC1 output (LED2 rt)
    LED2_OFF
    DDRC |= (1 << PC2); // PC2 output (LED3 gn)
    LED3_OFF
    DDRC |= (1 << PC3); // PC3 output (LED4 rt)
    LED4_OFF
 
    DDRC &= ~(1 << PC4); // PC4 input  (MODE)
    PORTC |= (1 << PC4); // pullup
    DDRC &= ~(1 << PC5); // PC5 input  (SET)
    PORTC |= (1 << PC5); // pullup
 
    // 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(2000);
    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 & 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();
 
    // 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();
#endif
 
    //write_ascii_string(2,  7, "         CaScAdE          ");
    //write_ascii_string(2,  8, "is TESTING his open source");
    //write_ascii_string(2,  9, "    EPi OSD Firmware");
 
    // we are ready
    LED3_ON
 
#if ALLCHARSDEBUG | (WRITECHARS != -1)
        clear();
        write_all_chars();
        LED1_ON
        LED2_ON
        LED3_ON
        LED4_ON
#else
 
        // clear serial screen
        //usart1_puts("\x1B[2J\x1B[H");
        //usart1_puts("hello world!123\r\n");
 
#if FCONLY
        // request data ever 100ms from FC;
        usart1_request_mk_data(0, 'd', 100);
#else
        // request OSD Data from NC every 100ms
        usart1_request_mk_data(1, 'o', 100);
 
    // and disable debug...
    usart1_request_mk_data(0, 'd', 0);
#endif
 
    while (1) {
        // 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_FLAGS2 & COSD_FLAG_STROMREC)) {
                                        clear();
                                        COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;
                                        // update this flag
                        COSD_FLAGS2 |= COSD_FLAG_STROMREC;
                                }
            } else {
                // update flags
                COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
            }
                        StartTransfer(9);
        }
        if (rxd_buffer_locked) {
#if FCONLY
            if (rxd_buffer[2] == 'D') { // FC Data
                Decode64();
                debugData = *((DebugOut_t*) pRxData);
 
                // init on first data retrival, distinguished by last battery :)
                if (last_UBat == 255) {
                    // fix for min_UBat
                    min_UBat = debugData.Analog[9];
                    init_cosd(debugData.Analog[9]);
                }
                                osd_fcmode();
            }
#else
            if (rxd_buffer[2] == 'O') { // NC OSD Data
                Decode64();
                naviData = *((NaviData_t*) pRxData);
 
                // init on first data retrival, distinguished by last battery :)
                if (last_UBat == 255) {
                    // fix for min_UBat
                    min_UBat = naviData.UBat;
                    init_cosd(naviData.UBat);
                }
                                osd_ncmode();
            }
#endif
            rxd_buffer_locked = 0;
        }
        // handle keypress
        if (s1_pressed()) {
            config_menu();
        }
        if (seconds_since_last_data > 2) {
#if FCONLY
            // request data ever 100ms from FC;
            usart1_request_mk_data(0, 'd', 100);
#else
            // request OSD Data from NC every 100ms
            usart1_request_mk_data(1, 'o', 100);
 
            // and disable debug...
            usart1_request_mk_data(0, 'd', 0);
 
                        // reset last time counter
                        seconds_since_last_data = 0;
#endif
        }
    }
#endif
    return 0;
}
 

Rev 514	Rev 523
1	/****************************************************************************	1	/****************************************************************************
2	* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *	2	* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *
3	* admiralcascade@gmail.com *	3	* admiralcascade@gmail.com *
4	* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *	4	* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *
5	* *	5	* *
6	* This program is free software; you can redistribute it and/or modify *	6	* This program is free software; you can redistribute it and/or modify *
7	* it under the terms of the GNU General Public License as published by *	7	* it under the terms of the GNU General Public License as published by *
8	* the Free Software Foundation; either version 2 of the License. *	8	* the Free Software Foundation; either version 2 of the License. *
9	* *	9	* *
10	* This program is distributed in the hope that it will be useful, *	10	* This program is distributed in the hope that it will be useful, *
11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *	11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *	12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13	* GNU General Public License for more details. *	13	* GNU General Public License for more details. *
14	* *	14	* *
15	* You should have received a copy of the GNU General Public License *	15	* You should have received a copy of the GNU General Public License *
16	* along with this program; if not, write to the *	16	* along with this program; if not, write to the *
17	* Free Software Foundation, Inc., *	17	* Free Software Foundation, Inc., *
18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *	18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19	* *	19	* *
20	* *	20	* *
21	* Credits to: *	21	* Credits to: *
22	* Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *	22	* Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *
23	* Gregor "killagreg" Stobrawa for making the MK code readable *	23	* Gregor "killagreg" Stobrawa for making the MK code readable *
24	* Klaus "akku" Buettner for the hardware *	24	* Klaus "akku" Buettner for the hardware *
25	* Manuel "KeyOz" Schrape for explaining the MK protocol to me *	25	* Manuel "KeyOz" Schrape for explaining the MK protocol to me *
26	****************************************************************************/	26	****************************************************************************/
27		27
28	#include <avr/io.h>	28	#include <avr/io.h>
29	#include <avr/interrupt.h>	29	#include <avr/interrupt.h>
30	#include <util/delay.h>	30	#include <util/delay.h>
31	#include <avr/pgmspace.h>	31	#include <avr/pgmspace.h>
32	#include "main.h"	32	#include "main.h"
33	#include "max7456_software_spi.h"	33	#include "max7456_software_spi.h"
34	#include "usart1.h"	34	#include "usart1.h"
35	#include "osd_helpers.h"	35	#include "osd_helpers.h"
36	#include "config.h"	36	#include "config.h"
37	#include "spi.h"	37	#include "spi.h"
38	#include "buttons.h"	38	#include "buttons.h"
39	#include "ppm.h"	39	#include "ppm.h"
40	#include "osd_ncmode_default.h"	40	#include "osd_ncmode_default.h"
41	#include "osd_ncmode_minimal.h"	41	#include "osd_ncmode_minimal.h"
42	#include "osd_fcmode_default.h"	42	#include "osd_fcmode_default.h"
43		43
44	#if WRITECHARS != -1	44	#if WRITECHARS != -1
45	#include "characters.h"	45	#include "characters.h"
46	#endif	46	#endif
47		47
48	/* TODO:	48	/* TODO:
49	* - verifiy correctness of values	49	* - verifiy correctness of values
50	* - clean up code :)	50	* - clean up code :)
51	*/	51	*/
52		52
53		53
54	/* ##########################################################################	54	/* ##########################################################################
55	* global definitions and global vars	55	* global definitions and global vars
56	* ##########################################################################*/	56	* ##########################################################################*/
57		57
58	volatile uint16_t setsReceived = 0;	58	volatile uint16_t setsReceived = 0;
59		59
60	volatile NaviData_t naviData;	60	volatile NaviData_t naviData;
61	volatile DebugOut_t debugData;	61	volatile DebugOut_t debugData;
62		62
63	// cache old vars for blinking attribute, checkup is faster than full	63	// cache old vars for blinking attribute, checkup is faster than full
64	// attribute write each time	64	// attribute write each time
65	volatile uint8_t last_UBat = 255;	65	volatile uint8_t last_UBat = 255;
66	volatile uint8_t last_RC_Quality = 255;	66	volatile uint8_t last_RC_Quality = 255;
67		67
68	// 16bit should be enough, normal LiPos don't last that long	68	// 16bit should be enough, normal LiPos don't last that long
69	volatile uint16_t uptime = 0;	69	volatile uint16_t uptime = 0;
70	volatile uint16_t timer = 0;	70	volatile uint16_t timer = 0;
71		71
72	// remember last time data was received	72	// remember last time data was received
73	volatile uint8_t seconds_since_last_data = 0;	73	volatile uint8_t seconds_since_last_data = 0;
74		74
75	// general PAL\|NTSC distingiusch stuff	75	// general PAL\|NTSC distingiusch stuff
76	uint8_t top_line = 1;	76	uint8_t top_line = 1;
77	uint8_t bottom_line = 14;	77	uint8_t bottom_line = 14;
78		78
79	// battery voltages	79	// battery voltages
80	uint8_t min_voltage = 0;	80	uint8_t min_voltage = 0;
81	uint8_t max_voltage = 0;	81	uint8_t max_voltage = 0;
82		82
83	// Flags	83	// Flags
84	uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0;	84	uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0;
85		85
86	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	86	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
87		87
88	// stats for after flight	88	// stats for after flight
89	int16_t max_Altimeter = 0;	89	int16_t max_Altimeter = 0;
90	uint8_t min_UBat = 255;	90	uint8_t min_UBat = 255;
91	uint16_t max_GroundSpeed = 0;	91	uint16_t max_GroundSpeed = 0;
92	int16_t max_Distance = 0;	92	int16_t max_Distance = 0;
93	uint16_t max_FlyingTime = 0;	93	uint16_t max_FlyingTime = 0;
94		94
95	// flags from last round to check for changes	95	// flags from last round to check for changes
96	uint8_t old_MKFlags = 0;	96	uint8_t old_MKFlags = 0;
97		97
98	// store stats description in progmem to save space	98	// store stats description in progmem to save space
99	const char stats_item_0[] PROGMEM = "max Altitude:";	99	const char stats_item_0[] PROGMEM = "max Altitude:";
100	const char stats_item_1[] PROGMEM = "max Speed :";	100	const char stats_item_1[] PROGMEM = "max Speed :";
101	const char stats_item_2[] PROGMEM = "max Distance:";	101	const char stats_item_2[] PROGMEM = "max Distance:";
102	const char stats_item_3[] PROGMEM = "min Voltage :";	102	const char stats_item_3[] PROGMEM = "min Voltage :";
103	const char stats_item_4[] PROGMEM = "max Time :";	103	const char stats_item_4[] PROGMEM = "max Time :";
104	const char stats_item_5[] PROGMEM = "longitude :";	104	const char stats_item_5[] PROGMEM = "longitude :";
105	const char stats_item_6[] PROGMEM = "latitude :";	105	const char stats_item_6[] PROGMEM = "latitude :";
106	const char stats_item_7[] PROGMEM = "max current :";	106	const char stats_item_7[] PROGMEM = "max current :";
107	const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,	107	const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
108	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};	108	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
109		109
110	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	110	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
111	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	111	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
112	const char str_NE[] PROGMEM = "NE";	112	const char str_NE[] PROGMEM = "NE";
113	const char str_E[] PROGMEM = "E ";	113	const char str_E[] PROGMEM = "E ";
114	const char str_SE[] PROGMEM = "SE";	114	const char str_SE[] PROGMEM = "SE";
115	const char str_S[] PROGMEM = "S ";	115	const char str_S[] PROGMEM = "S ";
116	const char str_SW[] PROGMEM = "SW";	116	const char str_SW[] PROGMEM = "SW";
117	const char str_W[] PROGMEM = "W ";	117	const char str_W[] PROGMEM = "W ";
118	const char str_NW[] PROGMEM = "NW";	118	const char str_NW[] PROGMEM = "NW";
119	const char str_N[] PROGMEM = "N ";	119	const char str_N[] PROGMEM = "N ";
120	const char *directions[8] PROGMEM = {	120	const char *directions[8] PROGMEM = {
121	str_NE,	121	str_NE,
122	str_E,	122	str_E,
123	str_SE,	123	str_SE,
124	str_S,	124	str_S,
125	str_SW,	125	str_SW,
126	str_W,	126	str_W,
127	str_NW,	127	str_NW,
128	str_N};	128	str_N};
129		129
130	/* ##########################################################################	130	/* ##########################################################################
131	* Different display mode function pointers	131	* Different display mode function pointers
132	* ##########################################################################*/	132	* ##########################################################################*/
133	const char str_1[] PROGMEM = "default";	133	const char str_1[] PROGMEM = "default";
134	const char str_2[] PROGMEM = "minimal";	134	const char str_2[] PROGMEM = "minimal";
135		135
136	const displaymode_t ncdisplaymodes[] PROGMEM = {	136	const displaymode_t ncdisplaymodes[] PROGMEM = {
137	{ osd_ncmode_default, (char *)str_1 },	137	{ osd_ncmode_default, (char *)str_1 },
138	{ osd_ncmode_minimal, (char *)str_2 }	138	{ osd_ncmode_minimal, (char *)str_2 }
139	};	139	};
140		140
141	const displaymode_t fcdisplaymodes[] PROGMEM = {	141	const displaymode_t fcdisplaymodes[] PROGMEM = {
142	{ osd_fcmode_default, (char *)str_1 },	142	{ osd_fcmode_default, (char *)str_1 },
143	};	143	};
144		144
145	int (osd_ncmode)(void) = (int()(void)) &osd_ncmode_default;	145	int (osd_ncmode)(void) = (int()(void)) &osd_ncmode_default;
146	int (osd_fcmode)(void) = (int()(void)) &osd_ncmode_default;	146	int (osd_fcmode)(void) = (int()(void)) &osd_ncmode_default;
147	#endif	147	#endif
148		148
149	/* ##########################################################################	149	/* ##########################################################################
150	* Interrupt handler	150	* Interrupt handler
151	* ##########################################################################*/	151	* ##########################################################################*/
152		152
153	/**	153	/**
154	* handler for undefined Interrupts	154	* handler for undefined Interrupts
155	* if not defined AVR will reset in case any unhandled interrupts occur	155	* if not defined AVR will reset in case any unhandled interrupts occur
156	*/	156	*/
157	ISR(__vector_default) {	157	ISR(__vector_default) {
158	asm("nop");	158	asm("nop");
159	}	159	}
160		160
161	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	161	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
162	/* ##########################################################################	162	/* ##########################################################################
163	* timer stuff	163	* timer stuff
164	* ##########################################################################*/	164	* ##########################################################################*/
165		165
166	static uint8_t delay_spi = 0;	166	static uint8_t delay_spi = 0;
167		167
168	/**	168	/**
169	* timer kicks in every 1000uS ^= 1ms	169	* timer kicks in every 1000uS ^= 1ms
170	*/	170	*/
171	ISR(TIMER0_COMP_vect) {	171	ISR(TIMER0_COMP_vect) {
172	if (!timer--) {	172	if (!timer--) {
173	uptime++;	173	uptime++;
174	timer = 999;	174	timer = 999;
175	seconds_since_last_data++;	175	seconds_since_last_data++;
176	}	176	}
177	// in case there is still some spi data to send do it now	177	// in case there is still some spi data to send do it now
178	// delay to give the slave some time to compute values	178	// delay to give the slave some time to compute values
179	if (spi_ready && icnt) {	179	if (spi_ready && icnt) {
180	if (!delay_spi--) {	180	if (!delay_spi--) {
181	delay_spi = 8;	181	delay_spi = 8;
182	spi_send_next();	182	spi_send_next();
183	}	183	}
184	}	184	}
185	}	185	}
186	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	186	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
187		187
188	/* ##########################################################################	188	/* ##########################################################################
189	* MAIN	189	* MAIN
190	* ##########################################################################*/	190	* ##########################################################################*/
191	int main(void) {	191	int main(void) {
192	// set up FLAGS	192	// set up FLAGS
193	COSD_FLAGS = 0;	193	COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0;
194	#if NTSC	194	#if NTSC
195	COSD_FLAGS \|= COSD_FLAG_NTSC;	195	COSD_FLAGS_CONFIG \|= COSD_FLAG_NTSC;
196	#endif	196	#endif
197	#if HUD	197	#if HUD
198	COSD_FLAGS \|= COSD_FLAG_HUD;	198	COSD_FLAGS_MODES \|= COSD_FLAG_HUD;
199	#endif	199	#endif
200	#if ARTHORIZON	200	#if ARTHORIZON
201	COSD_FLAGS \|= COSD_FLAG_ARTHORIZON;	201	COSD_FLAGS_MODES \|= COSD_FLAG_ARTHORIZON;
202	#endif	202	#endif
203	#if BIGVARIO	203	#if BIGVARIO
204	COSD_FLAGS \|= COSD_FLAG_BIGARIO;	204	COSD_FLAGS_MODES \|= COSD_FLAG_BIGARIO;
205	#endif	205	#endif
206	#if STATS	206	#if STATS
207	COSD_FLAGS \|= COSD_FLAG_STATS;	207	COSD_FLAGS_MODES \|= COSD_FLAG_STATS;
208	#endif	208	#endif
209	#if WARNINGS	209	#if WARNINGS
210	COSD_FLAGS \|= COSD_FLAG_WARNINGS;	210	COSD_FLAGS_MODES \|= COSD_FLAG_WARNINGS;
211	#endif	211	#endif
212	#if FCONLY	212	#if FCONLY
213	COSD_FLAGS \|= COSD_FLAG_FCMODE;	213	COSD_FLAGS_CONFIG \|= COSD_FLAG_FCMODE;
214	#endif	214	#endif
215		215
216		216
217		217
218	// set up Atmega162 Ports	218	// set up Atmega162 Ports
219	DDRA \|= (1 << PA1); // PA1 output (/CS)	219	DDRA \|= (1 << PA1); // PA1 output (/CS)
220	MAX_CS_HIGH	220	MAX_CS_HIGH
221	DDRA \|= (1 << PA2); // PA2 output (SDIN)	221	DDRA \|= (1 << PA2); // PA2 output (SDIN)
222	MAX_SDIN_LOW	222	MAX_SDIN_LOW
223	DDRA \|= (1 << PA3); // PA3 output (SCLK)	223	DDRA \|= (1 << PA3); // PA3 output (SCLK)
224	MAX_SCLK_LOW	224	MAX_SCLK_LOW
225	DDRA \|= (1 << PA5); // PA5 output (RESET)	225	DDRA \|= (1 << PA5); // PA5 output (RESET)
226	MAX_RESET_HIGH	226	MAX_RESET_HIGH
227		227
228	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)	228	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
229	LED1_OFF	229	LED1_OFF
230	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)	230	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
231	LED2_OFF	231	LED2_OFF
232	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)	232	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
233	LED3_OFF	233	LED3_OFF
234	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)	234	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
235	LED4_OFF	235	LED4_OFF
236		236
237	DDRC &= ~(1 << PC4); // PC4 input (MODE)	237	DDRC &= ~(1 << PC4); // PC4 input (MODE)
238	PORTC \|= (1 << PC4); // pullup	238	PORTC \|= (1 << PC4); // pullup
239	DDRC &= ~(1 << PC5); // PC5 input (SET)	239	DDRC &= ~(1 << PC5); // PC5 input (SET)
240	PORTC \|= (1 << PC5); // pullup	240	PORTC \|= (1 << PC5); // pullup
241		241
242	// reset the MAX7456 to be sure any undefined states do no harm	242	// reset the MAX7456 to be sure any undefined states do no harm
243	MAX_RESET_LOW	243	MAX_RESET_LOW
244	MAX_RESET_HIGH	244	MAX_RESET_HIGH
245		245
246	// give the FC/NC and the maxim time to come up	246	// give the FC/NC and the maxim time to come up
247	LED4_ON	247	LED4_ON
248	_delay_ms(2000);	248	_delay_ms(2000);
249	LED4_OFF	249	LED4_OFF
250		250
251	//Pushing NEW chars to the MAX7456	251	//Pushing NEW chars to the MAX7456
252	#if (WRITECHARS != -1)	252	#if (WRITECHARS != -1)
253	// DISABLE display (VM0)	253	// DISABLE display (VM0)
254	spi_send_byte(0x00, 0b00000000);	254	spi_send_byte(0x00, 0b00000000);
255	learn_all_chars_pgm();	255	learn_all_chars_pgm();
256	#else	256	#else
257	// read out config for NTSC/PAL distinguishing	257	// read out config for NTSC/PAL distinguishing
258	get_eeprom(0);	258	get_eeprom(0);
259	#endif	259	#endif
260		260
261	// Setup Video Mode	261	// Setup Video Mode
262	if (COSD_FLAGS & COSD_FLAG_NTSC) {	262	if (COSD_FLAGS & COSD_FLAG_NTSC) {
263	// NTSC + enable display immediately (VM0)	263	// NTSC + enable display immediately (VM0)
264	spi_send_byte(0x00, 0b00001000);	264	spi_send_byte(0x00, 0b00001000);
265		265
266	bottom_line = 12;	266	bottom_line = 12;
267	} else {	267	} else {
268	// PAL + enable display immediately (VM0)	268	// PAL + enable display immediately (VM0)
269	spi_send_byte(0x00, 0b01001000);	269	spi_send_byte(0x00, 0b01001000);
270		270
271	bottom_line = 14;	271	bottom_line = 14;
272	}	272	}
273		273
274	/*// clear all display-mem (DMM)	274	/*// clear all display-mem (DMM)
275	spi_send_byte(0x04, 0b00000100);	275	spi_send_byte(0x04, 0b00000100);
276		276
277	// clearing takes 12uS according to maxim so lets wait longer	277	// clearing takes 12uS according to maxim so lets wait longer
278	_delay_us(120);	278	_delay_us(120);
279		279
280	// 8bit mode	280	// 8bit mode
281	spi_send_byte(0x04, 0b01000000);*/	281	spi_send_byte(0x04, 0b01000000);*/
282		282
283	// clear display memory and set to 8bit mode	283	// clear display memory and set to 8bit mode
284	clear();	284	clear();
285		285
286	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	286	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
287	// init usart	287	// init usart
288	usart1_init();	288	usart1_init();
289		289
290	// set up timer	290	// set up timer
291	// CTC, Prescaler /64	291	// CTC, Prescaler /64
292	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);	292	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);
293		293
294	TCNT0 = 0;	294	TCNT0 = 0;
295	OCR0 = 250;	295	OCR0 = 250;
296		296
297	// enable timer output compare interrupt	297	// enable timer output compare interrupt
298	TIMSK &= ~(1 << TOIE0);	298	TIMSK &= ~(1 << TOIE0);
299	TIMSK \|= (1 << OCIE0);	299	TIMSK \|= (1 << OCIE0);
300		300
301	// SPI setup	301	// SPI setup
302	DDRD \|= (1 << PD2); // PD2 output (INT0)	302	DDRD \|= (1 << PD2); // PD2 output (INT0)
303	SpiMasterInit();	303	SpiMasterInit();
304		304
305	// PPM detection setup	305	// PPM detection setup
306	ppm_init();	306	ppm_init();
307		307
308	// enable interrupts	308	// enable interrupts
309		309
310	sei();	310	sei();
311	#endif	311	#endif
312		312
313	//write_ascii_string(2, 7, " CaScAdE ");	313	//write_ascii_string(2, 7, " CaScAdE ");
314	//write_ascii_string(2, 8, "is TESTING his open source");	314	//write_ascii_string(2, 8, "is TESTING his open source");
315	//write_ascii_string(2, 9, " EPi OSD Firmware");	315	//write_ascii_string(2, 9, " EPi OSD Firmware");
316		316
317	// we are ready	317	// we are ready
318	LED3_ON	318	LED3_ON
319		319
320	#if ALLCHARSDEBUG \| (WRITECHARS != -1)	320	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
321	clear();	321	clear();
322	write_all_chars();	322	write_all_chars();
323	LED1_ON	323	LED1_ON
324	LED2_ON	324	LED2_ON
325	LED3_ON	325	LED3_ON
326	LED4_ON	326	LED4_ON
327	#else	327	#else
328		328
329	// clear serial screen	329	// clear serial screen
330	//usart1_puts("\x1B[2J\x1B[H");	330	//usart1_puts("\x1B[2J\x1B[H");
331	//usart1_puts("hello world!123\r\n");	331	//usart1_puts("hello world!123\r\n");
332		332
333	#if FCONLY	333	#if FCONLY
334	// request data ever 100ms from FC;	334	// request data ever 100ms from FC;
335	usart1_request_mk_data(0, 'd', 100);	335	usart1_request_mk_data(0, 'd', 100);
336	#else	336	#else
337	// request OSD Data from NC every 100ms	337	// request OSD Data from NC every 100ms
338	usart1_request_mk_data(1, 'o', 100);	338	usart1_request_mk_data(1, 'o', 100);
339		339
340	// and disable debug...	340	// and disable debug...
341	usart1_request_mk_data(0, 'd', 0);	341	usart1_request_mk_data(0, 'd', 0);
342	#endif	342	#endif
343		343
344	while (1) {	344	while (1) {
345	// in case SPI is ready and there is nothing to send right now	345	// in case SPI is ready and there is nothing to send right now
346	if (!icnt && spi_ready) {	346	if (!icnt && spi_ready) {
347	// correct transfer ends with d (done)	347	// correct transfer ends with d (done)
348	if (SPI_buffer.buffer.chk == 'd') {	348	if (SPI_buffer.buffer.chk == 'd') {
349	ampere = SPI_buffer.data.ampere;	349	ampere = SPI_buffer.data.ampere;
350	ampere_wasted = SPI_buffer.data.mah;	350	ampere_wasted = SPI_buffer.data.mah;
351	s_volt = SPI_buffer.data.volt;	351	s_volt = SPI_buffer.data.volt;
352		352
353	// if this is the first receival we should print the small A	353	// if this is the first receival we should print the small A
354	if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {	354	if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {
355	clear();	355	clear();
356	COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;	356	COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;
357	// update this flag	357	// update this flag
358	COSD_FLAGS2 \|= COSD_FLAG_STROMREC;	358	COSD_FLAGS2 \|= COSD_FLAG_STROMREC;
359	}	359	}
360	} else {	360	} else {
361	// update flags	361	// update flags
362	COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;	362	COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
363	}	363	}
364	StartTransfer(9);	364	StartTransfer(9);
365	}	365	}
366	if (rxd_buffer_locked) {	366	if (rxd_buffer_locked) {
367	#if FCONLY	367	#if FCONLY
368	if (rxd_buffer[2] == 'D') { // FC Data	368	if (rxd_buffer[2] == 'D') { // FC Data
369	Decode64();	369	Decode64();
370	debugData = ((DebugOut_t) pRxData);	370	debugData = ((DebugOut_t) pRxData);
371		371
372	// init on first data retrival, distinguished by last battery :)	372	// init on first data retrival, distinguished by last battery :)
373	if (last_UBat == 255) {	373	if (last_UBat == 255) {
374	// fix for min_UBat	374	// fix for min_UBat
375	min_UBat = debugData.Analog[9];	375	min_UBat = debugData.Analog[9];
376	init_cosd(debugData.Analog[9]);	376	init_cosd(debugData.Analog[9]);
377	}	377	}
378	osd_fcmode();	378	osd_fcmode();
379	}	379	}
380	#else	380	#else
381	if (rxd_buffer[2] == 'O') { // NC OSD Data	381	if (rxd_buffer[2] == 'O') { // NC OSD Data
382	Decode64();	382	Decode64();
383	naviData = ((NaviData_t) pRxData);	383	naviData = ((NaviData_t) pRxData);
384		384
385	// init on first data retrival, distinguished by last battery :)	385	// init on first data retrival, distinguished by last battery :)
386	if (last_UBat == 255) {	386	if (last_UBat == 255) {
387	// fix for min_UBat	387	// fix for min_UBat
388	min_UBat = naviData.UBat;	388	min_UBat = naviData.UBat;
389	init_cosd(naviData.UBat);	389	init_cosd(naviData.UBat);
390	}	390	}
391	osd_ncmode();	391	osd_ncmode();
392	}	392	}
393	#endif	393	#endif
394	rxd_buffer_locked = 0;	394	rxd_buffer_locked = 0;
395	}	395	}
396	// handle keypress	396	// handle keypress
397	if (s1_pressed()) {	397	if (s1_pressed()) {
398	config_menu();	398	config_menu();
399	}	399	}
400	if (seconds_since_last_data > 2) {	400	if (seconds_since_last_data > 2) {
401	#if FCONLY	401	#if FCONLY
402	// request data ever 100ms from FC;	402	// request data ever 100ms from FC;
403	usart1_request_mk_data(0, 'd', 100);	403	usart1_request_mk_data(0, 'd', 100);
404	#else	404	#else
405	// request OSD Data from NC every 100ms	405	// request OSD Data from NC every 100ms
406	usart1_request_mk_data(1, 'o', 100);	406	usart1_request_mk_data(1, 'o', 100);
407		407
408	// and disable debug...	408	// and disable debug...
409	usart1_request_mk_data(0, 'd', 0);	409	usart1_request_mk_data(0, 'd', 0);
410		410
411	// reset last time counter	411	// reset last time counter
412	seconds_since_last_data = 0;	412	seconds_since_last_data = 0;
413	#endif	413	#endif
414	}	414	}
415	}	415	}
416	#endif	416	#endif
417	return 0;	417	return 0;
418	}	418	}
419		419

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(root)/C-OSD/trunk/main.c @ 1772 - Rev 514 → 523