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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
5 | * * |
5 | * * |
6 | * This program is free software; you can redistribute it and/or modify * |
6 | * This program is free software; you can redistribute it and/or modify * |
7 | * it under the terms of the GNU General Public License as published by * |
7 | * it under the terms of the GNU General Public License as published by * |
8 | * the Free Software Foundation; either version 2 of the License. * |
8 | * the Free Software Foundation; either version 2 of the License. * |
9 | * * |
9 | * * |
10 | * This program is distributed in the hope that it will be useful, * |
10 | * This program is distributed in the hope that it will be useful, * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
13 | * GNU General Public License for more details. * |
13 | * GNU General Public License for more details. * |
14 | * * |
14 | * * |
15 | * You should have received a copy of the GNU General Public License * |
15 | * You should have received a copy of the GNU General Public License * |
16 | * along with this program; if not, write to the * |
16 | * along with this program; if not, write to the * |
17 | * Free Software Foundation, Inc., * |
17 | * Free Software Foundation, Inc., * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
19 | * * |
19 | * * |
20 | * * |
20 | * * |
21 | * Credits to: * |
21 | * Credits to: * |
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
24 | * Klaus "akku" Buettner for the hardware * |
24 | * Klaus "akku" Buettner for the hardware * |
25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
26 | ****************************************************************************/ |
26 | ****************************************************************************/ |
27 | 27 | ||
28 | #include <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 | #ifdef ANTENNATRACKTEST |
|
- | 35 | #include "usart0.h" |
|
- | 36 | #endif |
|
34 | #include "usart1.h" |
37 | #include "usart1.h" |
35 | #include "osd_helpers.h" |
38 | #include "osd_helpers.h" |
36 | #include "config.h" |
39 | #include "config.h" |
37 | #include "spi.h" |
40 | #include "spi.h" |
38 | #include "buttons.h" |
41 | #include "buttons.h" |
39 | #include "ppm.h" |
42 | #include "ppm.h" |
40 | #include "osd_ncmode_default.h" |
43 | #include "osd_ncmode_default.h" |
41 | #include "osd_ncmode_minimal.h" |
44 | #include "osd_ncmode_minimal.h" |
42 | #include "osd_fcmode_default.h" |
45 | #include "osd_fcmode_default.h" |
43 | #include "osd_fcmode_jopl.h" |
46 | #include "osd_fcmode_jopl.h" |
44 | 47 | ||
45 | #if WRITECHARS != -1 |
48 | #if WRITECHARS != -1 |
46 | #include "characters.h" |
49 | #include "characters.h" |
47 | #endif |
50 | #endif |
48 | 51 | ||
49 | /* TODO: |
52 | /* TODO: |
50 | * - verifiy correctness of values |
53 | * - verifiy correctness of values |
51 | * - clean up code :) |
54 | * - clean up code :) |
52 | */ |
55 | */ |
53 | 56 | ||
54 | 57 | ||
55 | /* ########################################################################## |
58 | /* ########################################################################## |
56 | * global definitions and global vars |
59 | * global definitions and global vars |
57 | * ##########################################################################*/ |
60 | * ##########################################################################*/ |
58 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
61 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
59 | 62 | ||
60 | volatile NaviData_t naviData; |
63 | volatile NaviData_t naviData; |
61 | volatile DebugOut_t debugData; |
64 | volatile DebugOut_t debugData; |
62 | 65 | ||
63 | // cache old vars for blinking attribute, checkup is faster than full |
66 | // cache old vars for blinking attribute, checkup is faster than full |
64 | // attribute write each time |
67 | // attribute write each time |
65 | volatile uint8_t last_UBat = 255; |
68 | volatile uint8_t last_UBat = 255; |
66 | volatile uint8_t last_RC_Quality = 255; |
69 | volatile uint8_t last_RC_Quality = 255; |
67 | 70 | ||
68 | // 16bit should be enough, normal LiPos don't last that long |
71 | // 16bit should be enough, normal LiPos don't last that long |
69 | volatile uint16_t uptime = 0; |
72 | volatile uint16_t uptime = 0; |
70 | volatile uint16_t timer = 0; |
73 | volatile uint16_t timer = 0; |
71 | volatile uint16_t flytime_fc = 0; |
74 | volatile uint16_t flytime_fc = 0; |
72 | 75 | ||
73 | // remember last time data was received |
76 | // remember last time data was received |
74 | volatile uint8_t seconds_since_last_data = 0; |
77 | volatile uint8_t seconds_since_last_data = 0; |
75 | 78 | ||
76 | // general PAL|NTSC distingiusch stuff |
79 | // general PAL|NTSC distingiusch stuff |
77 | uint8_t top_line = 1; |
80 | uint8_t top_line = 1; |
78 | uint8_t bottom_line = 14; |
81 | uint8_t bottom_line = 14; |
79 | 82 | ||
80 | // battery voltages |
83 | // battery voltages |
81 | uint8_t min_voltage = 0; |
84 | uint8_t min_voltage = 0; |
82 | uint8_t max_voltage = 0; |
85 | uint8_t max_voltage = 0; |
83 | 86 | ||
84 | // Flags |
87 | // Flags |
85 | uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
88 | uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
86 | 89 | ||
87 | 90 | ||
88 | 91 | ||
89 | // stats for after flight |
92 | // stats for after flight |
90 | int16_t max_Altimeter = 0; |
93 | int16_t max_Altimeter = 0; |
91 | uint8_t min_UBat = 255; |
94 | uint8_t min_UBat = 255; |
92 | uint16_t max_GroundSpeed = 0; |
95 | uint16_t max_GroundSpeed = 0; |
93 | int16_t max_Distance = 0; |
96 | int16_t max_Distance = 0; |
94 | uint16_t max_FlyingTime = 0; |
97 | uint16_t max_FlyingTime = 0; |
95 | 98 | ||
96 | // flags from last round to check for changes |
99 | // flags from last round to check for changes |
97 | uint8_t old_MKFlags = 0; |
100 | uint8_t old_MKFlags = 0; |
98 | 101 | ||
99 | // store stats description in progmem to save space |
102 | // store stats description in progmem to save space |
100 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
103 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
101 | const char stats_item_1[] PROGMEM = "max Speed :"; |
104 | const char stats_item_1[] PROGMEM = "max Speed :"; |
102 | const char stats_item_2[] PROGMEM = "max Distance:"; |
105 | const char stats_item_2[] PROGMEM = "max Distance:"; |
103 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
106 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
104 | const char stats_item_4[] PROGMEM = "max Time :"; |
107 | const char stats_item_4[] PROGMEM = "max Time :"; |
105 | const char stats_item_5[] PROGMEM = "longitude :"; |
108 | const char stats_item_5[] PROGMEM = "longitude :"; |
106 | const char stats_item_6[] PROGMEM = "latitude :"; |
109 | const char stats_item_6[] PROGMEM = "latitude :"; |
107 | const char stats_item_7[] PROGMEM = "max current :"; |
110 | const char stats_item_7[] PROGMEM = "max current :"; |
108 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
111 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
109 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
112 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
110 | 113 | ||
111 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
114 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
112 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
115 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
113 | const char str_NE[] PROGMEM = "NE"; |
116 | const char str_NE[] PROGMEM = "NE"; |
114 | const char str_E[] PROGMEM = "E "; |
117 | const char str_E[] PROGMEM = "E "; |
115 | const char str_SE[] PROGMEM = "SE"; |
118 | const char str_SE[] PROGMEM = "SE"; |
116 | const char str_S[] PROGMEM = "S "; |
119 | const char str_S[] PROGMEM = "S "; |
117 | const char str_SW[] PROGMEM = "SW"; |
120 | const char str_SW[] PROGMEM = "SW"; |
118 | const char str_W[] PROGMEM = "W "; |
121 | const char str_W[] PROGMEM = "W "; |
119 | const char str_NW[] PROGMEM = "NW"; |
122 | const char str_NW[] PROGMEM = "NW"; |
120 | const char str_N[] PROGMEM = "N "; |
123 | const char str_N[] PROGMEM = "N "; |
121 | const char *directions[8] PROGMEM = { |
124 | const char *directions[8] PROGMEM = { |
122 | str_NE, |
125 | str_NE, |
123 | str_E, |
126 | str_E, |
124 | str_SE, |
127 | str_SE, |
125 | str_S, |
128 | str_S, |
126 | str_SW, |
129 | str_SW, |
127 | str_W, |
130 | str_W, |
128 | str_NW, |
131 | str_NW, |
129 | str_N |
132 | str_N |
130 | }; |
133 | }; |
131 | 134 | ||
132 | /* ########################################################################## |
135 | /* ########################################################################## |
133 | * Different display mode function pointers |
136 | * Different display mode function pointers |
134 | * ##########################################################################*/ |
137 | * ##########################################################################*/ |
135 | const char str_1[] PROGMEM = "default"; |
138 | const char str_1[] PROGMEM = "default"; |
136 | const char str_2[] PROGMEM = "minimal"; |
139 | const char str_2[] PROGMEM = "minimal"; |
137 | const char str_3[] PROGMEM = " jopl"; |
140 | const char str_3[] PROGMEM = " jopl"; |
138 | 141 | ||
139 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
142 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
140 | { osd_ncmode_default, (char *)str_1}, |
143 | { osd_ncmode_default, (char *)str_1}, |
141 | { osd_ncmode_minimal, (char *)str_2} |
144 | { osd_ncmode_minimal, (char *)str_2} |
142 | }; |
145 | }; |
143 | 146 | ||
144 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
147 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
145 | { osd_fcmode_default, (char *)str_1}, |
148 | { osd_fcmode_default, (char *)str_1}, |
146 | { osd_fcmode_jopl, (char *)str_3} |
149 | { osd_fcmode_jopl, (char *)str_3} |
147 | }; |
150 | }; |
148 | 151 | ||
149 | int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default; |
152 | int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default; |
150 | int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default; |
153 | int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default; |
151 | #endif |
154 | #endif |
152 | 155 | ||
153 | /* ########################################################################## |
156 | /* ########################################################################## |
154 | * Interrupt handler |
157 | * Interrupt handler |
155 | * ##########################################################################*/ |
158 | * ##########################################################################*/ |
156 | 159 | ||
157 | /** |
160 | /** |
158 | * handler for undefined Interrupts |
161 | * handler for undefined Interrupts |
159 | * if not defined AVR will reset in case any unhandled interrupts occur |
162 | * if not defined AVR will reset in case any unhandled interrupts occur |
160 | */ |
163 | */ |
161 | ISR(__vector_default) { |
164 | ISR(__vector_default) { |
162 | asm("nop"); |
165 | asm("nop"); |
163 | } |
166 | } |
164 | 167 | ||
165 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
168 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
166 | /* ########################################################################## |
169 | /* ########################################################################## |
167 | * timer stuff |
170 | * timer stuff |
168 | * ##########################################################################*/ |
171 | * ##########################################################################*/ |
169 | 172 | ||
170 | static uint8_t delay_spi = 0; |
173 | static uint8_t delay_spi = 0; |
171 | 174 | ||
172 | /** |
175 | /** |
173 | * timer kicks in every 1000uS ^= 1ms |
176 | * timer kicks in every 1000uS ^= 1ms |
174 | */ |
177 | */ |
175 | ISR(TIMER0_COMP_vect) { |
178 | ISR(TIMER0_COMP_vect) { |
176 | if (!timer--) { |
179 | if (!timer--) { |
177 | uptime++; |
180 | uptime++; |
178 | 181 | ||
179 | #if FCONLY |
182 | #if FCONLY |
180 | if (debugData.Analog[12] > 10) { |
183 | if (debugData.Analog[12] > 10) { |
181 | flytime_fc++; |
184 | flytime_fc++; |
182 | } |
185 | } |
183 | #endif |
186 | #endif |
184 | 187 | ||
185 | timer = 999; |
188 | timer = 999; |
186 | seconds_since_last_data++; |
189 | seconds_since_last_data++; |
187 | } |
190 | } |
188 | // in case there is still some spi data to send do it now |
191 | // in case there is still some spi data to send do it now |
189 | // delay to give the slave some time to compute values |
192 | // delay to give the slave some time to compute values |
190 | if (spi_ready && icnt) { |
193 | if (spi_ready && icnt) { |
191 | if (!delay_spi--) { |
194 | if (!delay_spi--) { |
192 | delay_spi = 8; |
195 | delay_spi = 8; |
193 | spi_send_next(); |
196 | spi_send_next(); |
194 | } |
197 | } |
195 | } |
198 | } |
196 | } |
199 | } |
197 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
200 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
198 | 201 | ||
199 | /* ########################################################################## |
202 | /* ########################################################################## |
200 | * MAIN |
203 | * MAIN |
201 | * ##########################################################################*/ |
204 | * ##########################################################################*/ |
202 | int main(void) { |
205 | int main(void) { |
203 | // set up FLAGS |
206 | // set up FLAGS |
204 | COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
207 | COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
205 | #if NTSC |
208 | #if NTSC |
206 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
209 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
207 | #endif |
210 | #endif |
208 | #if HUD |
211 | #if HUD |
209 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
212 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
210 | #endif |
213 | #endif |
211 | #if ARTHORIZON |
214 | #if ARTHORIZON |
212 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
215 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
213 | #endif |
216 | #endif |
214 | #if BIGVARIO |
217 | #if BIGVARIO |
215 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
218 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
216 | #endif |
219 | #endif |
217 | #if STATS |
220 | #if STATS |
218 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
221 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
219 | #endif |
222 | #endif |
220 | #if WARNINGS |
223 | #if WARNINGS |
221 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
224 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
222 | #endif |
225 | #endif |
223 | #if FCONLY |
226 | #if FCONLY |
224 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
227 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
225 | #endif |
228 | #endif |
226 | 229 | ||
227 | 230 | ||
228 | // set up Atmega162 Ports |
231 | // set up Atmega162 Ports |
229 | DDRA |= (1 << PA1); // PA1 output (/CS) |
232 | DDRA |= ((1 << PA1) | (1 << PA2) | (1 << PA3) | (1 << PA5)); // PA1 output (/CS) | PA2 output (SDIN) | PA3 output (SCLK) | PA5 output (RESET) |
230 | MAX_CS_HIGH |
233 | MAX_CS_HIGH |
231 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
- | |
232 | MAX_SDIN_LOW |
234 | MAX_SDIN_LOW |
233 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
- | |
234 | MAX_SCLK_LOW |
235 | MAX_SCLK_LOW |
235 | DDRA |= (1 << PA5); // PA5 output (RESET) |
- | |
236 | MAX_RESET_HIGH |
236 | MAX_RESET_HIGH |
237 | 237 | ||
238 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
238 | 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) |
239 | LED1_OFF |
- | |
240 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
239 | LED1_OFF |
241 | LED2_OFF |
- | |
242 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
240 | LED2_OFF |
243 | LED3_OFF |
- | |
244 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
241 | LED3_OFF |
245 | LED4_OFF |
242 | LED4_OFF |
246 | - | ||
247 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
- | |
248 | PORTC |= (1 << PC4); // pullup |
243 | |
249 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
244 | DDRC &= ~((1 << PC4) | (1 << PC5)); // PC4 input (MODE) | PC5 input (SET) |
250 | PORTC |= (1 << PC5); // pullup |
245 | PORTC |= ((1 << PC4) | (1 << PC5)); // pullup |
251 | 246 | ||
252 | // reset the MAX7456 to be sure any undefined states do no harm |
247 | // reset the MAX7456 to be sure any undefined states do no harm |
253 | MAX_RESET_LOW |
248 | MAX_RESET_LOW |
254 | MAX_RESET_HIGH |
249 | MAX_RESET_HIGH |
255 | 250 | ||
256 | // give the FC/NC and the maxim time to come up |
251 | // give the FC/NC and the maxim time to come up |
257 | LED4_ON |
252 | LED4_ON |
258 | _delay_ms(1000); |
253 | _delay_ms(1000); |
259 | LED4_OFF |
254 | LED4_OFF |
260 | 255 | ||
261 | //Pushing NEW chars to the MAX7456 |
256 | //Pushing NEW chars to the MAX7456 |
262 | #if (WRITECHARS != -1) |
257 | #if (WRITECHARS != -1) |
263 | // DISABLE display (VM0) |
258 | // DISABLE display (VM0) |
264 | spi_send_byte(0x00, 0b00000000); |
259 | spi_send_byte(0x00, 0b00000000); |
265 | learn_all_chars_pgm(); |
260 | learn_all_chars_pgm(); |
266 | #else |
261 | #else |
267 | // read out config for NTSC/PAL distinguishing |
262 | // read out config for NTSC/PAL distinguishing |
268 | get_eeprom(0); |
263 | get_eeprom(0); |
269 | #endif |
264 | #endif |
270 | 265 | ||
271 | // Setup Video Mode |
266 | // Setup Video Mode |
272 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
267 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
273 | // NTSC + enable display immediately (VM0) |
268 | // NTSC + enable display immediately (VM0) |
274 | spi_send_byte(0x00, 0b00001000); |
269 | spi_send_byte(0x00, 0b00001000); |
275 | 270 | ||
276 | bottom_line = 12; |
271 | bottom_line = 12; |
277 | } else { |
272 | } else { |
278 | // PAL + enable display immediately (VM0) |
273 | // PAL + enable display immediately (VM0) |
279 | spi_send_byte(0x00, 0b01001000); |
274 | spi_send_byte(0x00, 0b01001000); |
280 | 275 | ||
281 | bottom_line = 14; |
276 | bottom_line = 14; |
282 | } |
277 | } |
283 | 278 | ||
284 | /*// clear all display-mem (DMM) |
279 | /*// clear all display-mem (DMM) |
285 | spi_send_byte(0x04, 0b00000100); |
280 | spi_send_byte(0x04, 0b00000100); |
286 | 281 | ||
287 | // clearing takes 12uS according to maxim so lets wait longer |
282 | // clearing takes 12uS according to maxim so lets wait longer |
288 | _delay_us(120); |
283 | _delay_us(120); |
289 | 284 | ||
290 | // 8bit mode |
285 | // 8bit mode |
291 | spi_send_byte(0x04, 0b01000000);*/ |
286 | spi_send_byte(0x04, 0b01000000);*/ |
292 | 287 | ||
293 | // clear display memory and set to 8bit mode |
288 | // clear display memory and set to 8bit mode |
294 | clear(); |
289 | clear(); |
295 | 290 | ||
296 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
291 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
297 | // init usart |
292 | // init usart |
298 | usart1_init(); |
293 | usart1_init(); |
- | 294 | ||
- | 295 | ||
- | 296 | ||
- | 297 | #ifdef ANTENNATRACKTEST |
|
- | 298 | usart0_init(); |
|
- | 299 | #endif |
|
299 | 300 | ||
300 | // keep serial port clean |
301 | // keep serial port clean |
301 | usart1_DisableTXD(); |
302 | usart1_DisableTXD(); |
302 | 303 | ||
303 | // set up timer |
304 | // set up timer |
304 | // CTC, Prescaler /64 |
305 | // CTC, Prescaler /64 |
305 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
306 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
306 | 307 | ||
307 | TCNT0 = 0; |
308 | TCNT0 = 0; |
308 | OCR0 = 250; |
309 | OCR0 = 250; |
309 | 310 | ||
310 | // enable timer output compare interrupt |
311 | // enable timer output compare interrupt |
311 | TIMSK &= ~(1 << TOIE0); |
312 | TIMSK &= ~(1 << TOIE0); |
312 | TIMSK |= (1 << OCIE0); |
313 | TIMSK |= (1 << OCIE0); |
313 | 314 | ||
314 | // SPI setup |
315 | // SPI setup |
315 | DDRD |= (1 << PD2); // PD2 output (INT0) |
316 | DDRD |= (1 << PD2); // PD2 output (INT0) |
316 | SpiMasterInit(); |
317 | SpiMasterInit(); |
317 | 318 | ||
318 | // PPM detection setup |
319 | // PPM detection setup |
319 | ppm_init(); |
320 | ppm_init(); |
320 | 321 | ||
321 | // enable interrupts |
322 | // enable interrupts |
322 | sei(); |
323 | sei(); |
323 | 324 | ||
324 | 325 | ||
325 | //write_ascii_string(2, 7, " CaScAdE "); |
326 | //write_ascii_string(2, 7, " CaScAdE "); |
326 | //write_ascii_string(2, 8, "is TESTING his open source"); |
327 | //write_ascii_string(2, 8, "is TESTING his open source"); |
327 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
328 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
328 | 329 | ||
329 | // we are ready |
330 | // we are ready |
330 | LED3_ON |
331 | LED3_ON |
331 | 332 | ||
332 | 333 | ||
333 | // clear serial screen |
334 | // clear serial screen |
334 | //usart1_puts("\x1B[2J\x1B[H"); |
335 | //usart1_puts("\x1B[2J\x1B[H"); |
335 | 336 | ||
336 | while (1) { |
337 | while (1) { |
337 | // in case SPI is ready and there is nothing to send right now |
338 | // in case SPI is ready and there is nothing to send right now |
338 | if (!icnt && spi_ready) { |
339 | if (!icnt && spi_ready) { |
339 | // correct transfer ends with d (done) |
340 | // correct transfer ends with d (done) |
340 | if (SPI_buffer.buffer.chk == 'd') { |
341 | if (SPI_buffer.buffer.chk == 'd') { |
341 | ampere = SPI_buffer.data.ampere; |
342 | ampere = SPI_buffer.data.ampere; |
342 | ampere_wasted = SPI_buffer.data.mah; |
343 | ampere_wasted = SPI_buffer.data.mah; |
343 | s_volt = SPI_buffer.data.volt; |
344 | s_volt = SPI_buffer.data.volt; |
344 | 345 | ||
345 | // if this is the first receival we should print the small A |
346 | // if this is the first receival we should print the small A |
346 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
347 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
347 | clear(); |
348 | clear(); |
348 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
349 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
349 | // update this flag |
350 | // update this flag |
350 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
351 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
351 | } |
352 | } |
352 | } else { |
353 | } else { |
353 | // update flags |
354 | // update flags |
354 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
355 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
355 | } |
356 | } |
356 | StartTransfer(9); |
357 | StartTransfer(9); |
357 | } |
358 | } |
358 | if (rxd_buffer_locked) { |
359 | if (rxd_buffer_locked) { |
359 | #if FCONLY |
360 | #if FCONLY |
360 | if (rxd_buffer[2] == 'D') { // FC Data |
361 | if (rxd_buffer[2] == 'D') { // FC Data |
361 | Decode64(); |
362 | Decode64(); |
362 | debugData = *((DebugOut_t*)pRxData); |
363 | debugData = *((DebugOut_t*)pRxData); |
363 | 364 | ||
364 | // init on first data retrival, distinguished by last battery :) |
365 | // init on first data retrival, distinguished by last battery :) |
365 | if (last_UBat == 255) { |
366 | if (last_UBat == 255) { |
366 | if (debugData.Analog[9] > 40) { |
367 | if (debugData.Analog[9] > 40) { |
367 | // fix for min_UBat |
368 | // fix for min_UBat |
368 | min_UBat = debugData.Analog[9]; |
369 | min_UBat = debugData.Analog[9]; |
369 | last_UBat = debugData.Analog[9]; |
370 | last_UBat = debugData.Analog[9]; |
370 | init_cosd(last_UBat); |
371 | init_cosd(last_UBat); |
371 | } |
372 | } |
372 | } else { |
373 | } else { |
373 | osd_fcmode(); |
374 | osd_fcmode(); |
374 | } |
375 | } |
375 | seconds_since_last_data = 0; |
376 | seconds_since_last_data = 0; |
376 | } |
377 | } |
377 | #else |
378 | #else |
378 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
379 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
379 | Decode64(); |
380 | Decode64(); |
380 | naviData = *((NaviData_t*)pRxData); |
381 | naviData = *((NaviData_t*)pRxData); |
381 | 382 | ||
382 | // init on first data retrival, distinguished by last battery :) |
383 | // init on first data retrival, distinguished by last battery :) |
383 | if (last_UBat == 255) { |
384 | if (last_UBat == 255) { |
384 | if (naviData.UBat > 40) { |
385 | if (naviData.UBat > 40) { |
385 | // fix for min_UBat |
386 | // fix for min_UBat |
386 | min_UBat = naviData.UBat; |
387 | min_UBat = naviData.UBat; |
387 | last_UBat = naviData.UBat; |
388 | last_UBat = naviData.UBat; |
388 | init_cosd(last_UBat); |
389 | init_cosd(last_UBat); |
389 | } |
390 | } |
390 | } else { |
391 | } else { |
391 | osd_ncmode(); |
392 | osd_ncmode(); |
392 | } |
393 | } |
393 | //seconds_since_last_data = 0; |
394 | //seconds_since_last_data = 0; |
394 | } |
395 | } |
395 | #endif |
396 | #endif |
- | 397 | ||
- | 398 | // ONLY FOR TESTING |
|
- | 399 | #ifdef ANTENNATRACKTEST |
|
- | 400 | #include <stdlib.h> |
|
- | 401 | //#include <float.h> |
|
- | 402 | //#include <math.h> |
|
- | 403 | ||
- | 404 | //usart0_puts("\x1B[2J\x1B[H"); |
|
- | 405 | ||
- | 406 | ||
- | 407 | /* |
|
- | 408 | naviData.HomePositionDeviation.Distance = 23 * 100; // 23m away (cm * 100) |
|
- | 409 | naviData.HomePositionDeviation.Bearing = 35; // 35° |
|
- | 410 | altimeter_offset = 50; // 50m start height |
|
- | 411 | naviData.CurrentPosition.Altitude = (int32_t) ((int32_t)250 * (int32_t)1000); // 250m height (mm * 1000) |
|
- | 412 | */ |
|
- | 413 | ||
- | 414 | static char conv_array[7]; |
|
- | 415 | ||
- | 416 | // should be float |
|
- | 417 | int tanheight = (naviData.HomePositionDeviation.Distance * 100) / (naviData.CurrentPosition.Altitude - altimeter_offset); |
|
- | 418 | ||
- | 419 | // we need math.h and some faster AVR :) |
|
- | 420 | //tanheight = rad2deg(atan(tanheight)); |
|
- | 421 | ||
- | 422 | itoa((naviData.HomePositionDeviation.Bearing + 180) % 360, conv_array, 10); |
|
- | 423 | usart0_puts("Bearing: "); |
|
- | 424 | usart0_puts(conv_array); |
|
- | 425 | usart0_puts("\tHeightangle: "); |
|
- | 426 | itoa(tanheight, conv_array, 10); |
|
- | 427 | usart0_puts(conv_array); |
|
- | 428 | usart0_puts("\r\n"); |
|
- | 429 | #endif |
|
- | 430 | ||
- | 431 | ||
396 | rxd_buffer_locked = 0; |
432 | rxd_buffer_locked = 0; |
397 | } |
433 | } |
398 | // handle keypress |
434 | // handle keypress |
399 | if (s1_pressed()) { |
435 | if (s1_pressed()) { |
400 | config_menu(); |
436 | config_menu(); |
401 | } |
437 | } |
402 | if (seconds_since_last_data > 0) { |
438 | if (seconds_since_last_data > 0) { |
403 | usart1_EnableTXD(); |
439 | usart1_EnableTXD(); |
404 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
440 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
405 | #if FCONLY |
441 | #if FCONLY |
406 | // request data ever 100ms from FC; |
442 | // request data ever 100ms from FC; |
407 | //usart1_request_mk_data(0, 'd', 100); |
443 | //usart1_request_mk_data(0, 'd', 100); |
408 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
444 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
409 | #else |
445 | #else |
410 | // request OSD Data from NC every 100ms |
446 | // request OSD Data from NC every 100ms |
411 | //usart1_request_mk_data(1, 'o', 100); |
447 | //usart1_request_mk_data(1, 'o', 100); |
412 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
448 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
413 | 449 | ||
414 | // and disable debug... |
450 | // and disable debug... |
415 | //usart1_request_mk_data(0, 'd', 0); |
451 | //usart1_request_mk_data(0, 'd', 0); |
416 | #endif |
452 | #endif |
417 | // reset last time counter |
453 | // reset last time counter |
418 | seconds_since_last_data = 0; |
454 | seconds_since_last_data = 0; |
419 | usart1_DisableTXD(); |
455 | usart1_DisableTXD(); |
420 | } |
456 | } |
421 | } |
457 | } |
422 | 458 | ||
423 | #else // character flashing... |
459 | #else // character flashing... |
424 | clear(); |
460 | clear(); |
425 | write_all_chars(); |
461 | write_all_chars(); |
426 | LED1_ON |
462 | LED1_ON |
427 | LED2_ON |
463 | LED2_ON |
428 | LED3_ON |
464 | LED3_ON |
429 | LED4_ON |
465 | LED4_ON |
430 | while(1) { |
466 | while(1) { |
431 | 467 | ||
432 | }; |
468 | }; |
433 | #endif |
469 | #endif |
434 | 470 | ||
435 | 471 | ||
436 | return 0; |
472 | return 0; |
437 | } |
473 | } |
438 | 474 |