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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 | 40 | ||
41 | /* TODO: |
41 | /* TODO: |
42 | * - verifiy correctness of values |
42 | * - verifiy correctness of values |
43 | * - clean up code :) |
43 | * - clean up code :) |
44 | */ |
44 | */ |
45 | 45 | ||
46 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
46 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
47 | // data structs not needed for character flashing |
47 | // data structs not needed for character flashing |
48 | #include "mk-data-structs.h" |
48 | #include "mk-data-structs.h" |
49 | 49 | ||
50 | /* ########################################################################## |
50 | /* ########################################################################## |
51 | * global definitions and global vars |
51 | * global definitions and global vars |
52 | * ##########################################################################*/ |
52 | * ##########################################################################*/ |
53 | 53 | ||
54 | volatile uint16_t setsReceived = 0; |
54 | volatile uint16_t setsReceived = 0; |
55 | 55 | ||
56 | volatile NaviData_t naviData; |
56 | volatile NaviData_t naviData; |
57 | volatile DebugOut_t debugData; |
57 | volatile DebugOut_t debugData; |
58 | 58 | ||
59 | // cache old vars for blinking attribute, checkup is faster than full |
59 | // cache old vars for blinking attribute, checkup is faster than full |
60 | // attribute write each time |
60 | // attribute write each time |
61 | volatile uint8_t last_UBat = 255; |
61 | volatile uint8_t last_UBat = 255; |
62 | volatile uint8_t last_RC_Quality = 255; |
62 | volatile uint8_t last_RC_Quality = 255; |
63 | 63 | ||
64 | // 16bit should be enough, normal LiPos don't last that long |
64 | // 16bit should be enough, normal LiPos don't last that long |
65 | volatile uint16_t uptime = 0; |
65 | volatile uint16_t uptime = 0; |
66 | volatile uint16_t timer = 0; |
66 | volatile uint16_t timer = 0; |
67 | 67 | ||
68 | // remember last time data was received |
68 | // remember last time data was received |
69 | volatile uint8_t seconds_since_last_data = 0; |
69 | volatile uint8_t seconds_since_last_data = 0; |
70 | 70 | ||
71 | // store stats description in progmem to save space |
71 | // store stats description in progmem to save space |
72 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
72 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
73 | const char stats_item_1[] PROGMEM = "max Speed :"; |
73 | const char stats_item_1[] PROGMEM = "max Speed :"; |
74 | const char stats_item_2[] PROGMEM = "max Distance:"; |
74 | const char stats_item_2[] PROGMEM = "max Distance:"; |
75 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
75 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
76 | const char stats_item_4[] PROGMEM = "max Time :"; |
76 | const char stats_item_4[] PROGMEM = "max Time :"; |
77 | const char stats_item_5[] PROGMEM = "longitude :"; |
77 | const char stats_item_5[] PROGMEM = "longitude :"; |
78 | const char stats_item_6[] PROGMEM = "latitude :"; |
78 | const char stats_item_6[] PROGMEM = "latitude :"; |
79 | const char stats_item_7[] PROGMEM = "max current :"; |
79 | const char stats_item_7[] PROGMEM = "max current :"; |
80 | const char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
80 | const char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
81 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
81 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
82 | 82 | ||
83 | #if !(FCONLY) |
83 | #if !(FCONLY) |
84 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
84 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
85 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
85 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
86 | const char str_NE[] PROGMEM = "NE"; |
86 | const char str_NE[] PROGMEM = "NE"; |
87 | const char str_E[] PROGMEM = "E "; |
87 | const char str_E[] PROGMEM = "E "; |
88 | const char str_SE[] PROGMEM = "SE"; |
88 | const char str_SE[] PROGMEM = "SE"; |
89 | const char str_S[] PROGMEM = "S "; |
89 | const char str_S[] PROGMEM = "S "; |
90 | const char str_SW[] PROGMEM = "SW"; |
90 | const char str_SW[] PROGMEM = "SW"; |
91 | const char str_W[] PROGMEM = "W "; |
91 | const char str_W[] PROGMEM = "W "; |
92 | const char str_NW[] PROGMEM = "NW"; |
92 | const char str_NW[] PROGMEM = "NW"; |
93 | const char str_N[] PROGMEM = "N "; |
93 | const char str_N[] PROGMEM = "N "; |
94 | const char *directions[8] PROGMEM = { |
94 | const char *directions[8] PROGMEM = { |
95 | str_NE, |
95 | str_NE, |
96 | str_E, |
96 | str_E, |
97 | str_SE, |
97 | str_SE, |
98 | str_S, |
98 | str_S, |
99 | str_SW, |
99 | str_SW, |
100 | str_W, |
100 | str_W, |
101 | str_NW, |
101 | str_NW, |
102 | str_N}; |
102 | str_N}; |
103 | #endif |
103 | #endif |
104 | 104 | ||
105 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
105 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
106 | 106 | ||
107 | // general PAL|NTSC distingiusch stuff |
107 | // general PAL|NTSC distingiusch stuff |
108 | uint8_t top_line = 1; |
108 | uint8_t top_line = 1; |
109 | uint8_t bottom_line = 14; |
109 | uint8_t bottom_line = 14; |
110 | 110 | ||
111 | // battery voltages |
111 | // battery voltages |
112 | uint8_t min_voltage = 0; |
112 | uint8_t min_voltage = 0; |
113 | uint8_t max_voltage = 0; |
113 | uint8_t max_voltage = 0; |
114 | 114 | ||
115 | // Flags |
115 | // Flags |
116 | uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0; |
116 | uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0; |
117 | 117 | ||
118 | /* ########################################################################## |
118 | /* ########################################################################## |
119 | * Interrupt handler |
119 | * Interrupt handler |
120 | * ##########################################################################*/ |
120 | * ##########################################################################*/ |
121 | 121 | ||
122 | /** |
122 | /** |
123 | * handler for undefined Interrupts |
123 | * handler for undefined Interrupts |
124 | * if not defined AVR will reset in case any unhandled interrupts occur |
124 | * if not defined AVR will reset in case any unhandled interrupts occur |
125 | */ |
125 | */ |
126 | ISR(__vector_default) { |
126 | ISR(__vector_default) { |
127 | asm("nop"); |
127 | asm("nop"); |
128 | } |
128 | } |
129 | 129 | ||
130 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
130 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
131 | /* ########################################################################## |
131 | /* ########################################################################## |
132 | * timer stuff |
132 | * timer stuff |
133 | * ##########################################################################*/ |
133 | * ##########################################################################*/ |
134 | 134 | ||
135 | /** |
135 | /** |
136 | * timer kicks in every 1000uS ^= 1ms |
136 | * timer kicks in every 1000uS ^= 1ms |
137 | */ |
137 | */ |
138 | ISR(TIMER0_COMP_vect) { |
138 | ISR(TIMER0_COMP_vect) { |
139 | if (!timer--) { |
139 | if (!timer--) { |
140 | uptime++; |
140 | uptime++; |
141 | timer = 999; |
141 | timer = 999; |
142 | seconds_since_last_data++; |
142 | seconds_since_last_data++; |
143 | } |
143 | } |
144 | // in case there is still some spi data to send do it now |
144 | // in case there is still some spi data to send do it now |
145 | if (spi_ready && icnt) { |
145 | if (spi_ready && icnt) { |
146 | SPDR = *iptr; |
146 | SPDR = *iptr; |
147 | } |
147 | } |
148 | } |
148 | } |
149 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
149 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
150 | 150 | ||
151 | /* ########################################################################## |
151 | /* ########################################################################## |
152 | * MAIN |
152 | * MAIN |
153 | * ##########################################################################*/ |
153 | * ##########################################################################*/ |
154 | int main(void) { |
154 | int main(void) { |
155 | 155 | ||
156 | // set up FLAGS, compiler should flatten this one |
156 | // set up FLAGS, compiler should flatten this one |
157 | COSD_FLAGS = (NTSC << 0); |
157 | COSD_FLAGS = (NTSC << 0); |
158 | COSD_FLAGS |= (HUD << 1); |
158 | COSD_FLAGS |= (HUD << 1); |
159 | COSD_FLAGS |= (ARTHORIZON << 2); |
159 | COSD_FLAGS |= (ARTHORIZON << 2); |
160 | COSD_FLAGS |= (BIGVARIO << 3); |
160 | COSD_FLAGS |= (BIGVARIO << 3); |
161 | COSD_FLAGS |= (STATS << 4); |
161 | COSD_FLAGS |= (STATS << 4); |
162 | COSD_FLAGS |= (WARNINGS << 5); |
162 | COSD_FLAGS |= (WARNINGS << 5); |
163 | 163 | ||
164 | // set up Atmega162 Ports |
164 | // set up Atmega162 Ports |
165 | DDRA |= (1 << PA1); // PA1 output (/CS) |
165 | DDRA |= (1 << PA1); // PA1 output (/CS) |
166 | MAX_CS_HIGH |
166 | MAX_CS_HIGH |
167 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
167 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
168 | MAX_SDIN_LOW |
168 | MAX_SDIN_LOW |
169 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
169 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
170 | MAX_SCLK_LOW |
170 | MAX_SCLK_LOW |
171 | DDRA |= (1 << PA5); // PA5 output (RESET) |
171 | DDRA |= (1 << PA5); // PA5 output (RESET) |
172 | MAX_RESET_HIGH |
172 | MAX_RESET_HIGH |
173 | 173 | ||
174 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
174 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
175 | LED1_OFF |
175 | LED1_OFF |
176 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
176 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
177 | LED2_OFF |
177 | LED2_OFF |
178 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
178 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
179 | LED3_OFF |
179 | LED3_OFF |
180 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
180 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
181 | LED4_OFF |
181 | LED4_OFF |
182 | 182 | ||
183 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
183 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
184 | PORTC |= (1 << PC4); // pullup |
184 | PORTC |= (1 << PC4); // pullup |
185 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
185 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
186 | PORTC |= (1 << PC5); // pullup |
186 | PORTC |= (1 << PC5); // pullup |
187 | 187 | ||
188 | // reset the MAX7456 to be sure any undefined states do no harm |
188 | // reset the MAX7456 to be sure any undefined states do no harm |
189 | MAX_RESET_LOW |
189 | MAX_RESET_LOW |
190 | MAX_RESET_HIGH |
190 | MAX_RESET_HIGH |
191 | 191 | ||
192 | // give the FC/NC and the maxim time to come up |
192 | // give the FC/NC and the maxim time to come up |
193 | LED4_ON |
193 | LED4_ON |
194 | _delay_ms(2000); |
194 | _delay_ms(2000); |
195 | LED4_OFF |
195 | LED4_OFF |
196 | 196 | ||
197 | //Pushing NEW chars to the MAX7456 |
197 | //Pushing NEW chars to the MAX7456 |
198 | #if (WRITECHARS != -1) |
198 | #if (WRITECHARS != -1) |
199 | // DISABLE display (VM0) |
199 | // DISABLE display (VM0) |
200 | spi_send_byte(0x00, 0b00000000); |
200 | spi_send_byte(0x00, 0b00000000); |
201 | #include "characters.c" |
201 | #include "characters.c" |
202 | #else |
202 | #else |
203 | // read out config for NTSC/PAL distinguishing |
203 | // read out config for NTSC/PAL distinguishing |
204 | get_eeprom(0); |
204 | get_eeprom(0); |
205 | #endif |
205 | #endif |
206 | 206 | ||
207 | // Setup Video Mode |
207 | // Setup Video Mode |
208 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
208 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
209 | // NTSC + enable display immediately (VM0) |
209 | // NTSC + enable display immediately (VM0) |
210 | spi_send_byte(0x00, 0b00001000); |
210 | spi_send_byte(0x00, 0b00001000); |
211 | 211 | ||
212 | bottom_line = 12; |
212 | bottom_line = 12; |
213 | } else { |
213 | } else { |
214 | // PAL + enable display immediately (VM0) |
214 | // PAL + enable display immediately (VM0) |
215 | spi_send_byte(0x00, 0b01001000); |
215 | spi_send_byte(0x00, 0b01001000); |
216 | 216 | ||
217 | bottom_line = 14; |
217 | bottom_line = 14; |
218 | } |
218 | } |
219 | 219 | ||
220 | /*// clear all display-mem (DMM) |
220 | /*// clear all display-mem (DMM) |
221 | spi_send_byte(0x04, 0b00000100); |
221 | spi_send_byte(0x04, 0b00000100); |
222 | 222 | ||
223 | // clearing takes 12uS according to maxim so lets wait longer |
223 | // clearing takes 12uS according to maxim so lets wait longer |
224 | _delay_us(120); |
224 | _delay_us(120); |
225 | 225 | ||
226 | // 8bit mode |
226 | // 8bit mode |
227 | spi_send_byte(0x04, 0b01000000);*/ |
227 | spi_send_byte(0x04, 0b01000000);*/ |
228 | 228 | ||
229 | // clear display memory and set to 8bit mode |
229 | // clear display memory and set to 8bit mode |
230 | clear(); |
230 | clear(); |
231 | 231 | ||
232 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
232 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
233 | // init usart |
233 | // init usart |
234 | usart1_init(); |
234 | usart1_init(); |
235 | 235 | ||
236 | // set up timer |
236 | // set up timer |
237 | // CTC, Prescaler /64 |
237 | // CTC, Prescaler /64 |
238 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
238 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
239 | 239 | ||
240 | TCNT0 = 0; |
240 | TCNT0 = 0; |
241 | OCR0 = 250; |
241 | OCR0 = 250; |
242 | 242 | ||
243 | // enable timer output compare interrupt |
243 | // enable timer output compare interrupt |
244 | TIMSK &= ~(1 << TOIE0); |
244 | TIMSK &= ~(1 << TOIE0); |
245 | TIMSK |= (1 << OCIE0); |
245 | TIMSK |= (1 << OCIE0); |
246 | 246 | ||
247 | // SPI setup |
247 | // SPI setup |
248 | DDRD |= (1 << PD2); // PD2 output (INT0) |
248 | DDRD |= (1 << PD2); // PD2 output (INT0) |
249 | SpiMasterInit(); |
249 | SpiMasterInit(); |
250 | 250 | ||
251 | // PPM detection setup |
251 | // PPM detection setup |
252 | ppm_init(); |
252 | ppm_init(); |
253 | 253 | ||
254 | // enable interrupts |
254 | // enable interrupts |
255 | 255 | ||
256 | sei(); |
256 | sei(); |
257 | #endif |
257 | #endif |
258 | 258 | ||
259 | //write_ascii_string(2, 7, " CaScAdE "); |
259 | //write_ascii_string(2, 7, " CaScAdE "); |
260 | //write_ascii_string(2, 8, "is TESTING his open source"); |
260 | //write_ascii_string(2, 8, "is TESTING his open source"); |
261 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
261 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
262 | 262 | ||
263 | // we are ready |
263 | // we are ready |
264 | LED3_ON |
264 | LED3_ON |
265 | 265 | ||
266 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
266 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
267 | clear(); |
267 | clear(); |
268 | write_all_chars(); |
268 | write_all_chars(); |
269 | #else |
269 | #else |
270 | 270 | ||
271 | // clear serial screen |
271 | // clear serial screen |
272 | //usart1_puts("\x1B[2J\x1B[H"); |
272 | //usart1_puts("\x1B[2J\x1B[H"); |
273 | //usart1_puts("hello world!123\r\n"); |
273 | //usart1_puts("hello world!123\r\n"); |
274 | 274 | ||
275 | #if FCONLY |
275 | #if FCONLY |
276 | // request data ever 100ms from FC; |
276 | // request data ever 100ms from FC; |
277 | usart1_request_mk_data(0, 'd', 100); |
277 | usart1_request_mk_data(0, 'd', 100); |
278 | #else |
278 | #else |
279 | // request OSD Data from NC every 100ms |
279 | // request OSD Data from NC every 100ms |
280 | usart1_request_mk_data(1, 'o', 100); |
280 | usart1_request_mk_data(1, 'o', 100); |
281 | 281 | ||
282 | // and disable debug... |
282 | // and disable debug... |
283 | usart1_request_mk_data(0, 'd', 0); |
283 | usart1_request_mk_data(0, 'd', 0); |
284 | #endif |
284 | #endif |
285 | 285 | ||
286 | // stats for after flight |
286 | // stats for after flight |
287 | int16_t max_Altimeter = 0; |
287 | int16_t max_Altimeter = 0; |
288 | uint8_t min_UBat = 255; |
288 | uint8_t min_UBat = 255; |
289 | #if !(FCONLY) |
289 | #if !(FCONLY) |
290 | uint16_t max_GroundSpeed = 0; |
290 | uint16_t max_GroundSpeed = 0; |
291 | int16_t max_Distance = 0; |
291 | int16_t max_Distance = 0; |
292 | uint16_t max_FlyingTime = 0; |
292 | uint16_t max_FlyingTime = 0; |
293 | 293 | ||
294 | // flags from last round to check for changes |
294 | // flags from last round to check for changes |
295 | uint8_t old_MKFlags = 0; |
295 | uint8_t old_MKFlags = 0; |
296 | #endif |
296 | #endif |
297 | 297 | ||
298 | while (1) { |
298 | while (1) { |
299 | // in case SPI is ready and there is nothing to send right now |
299 | // in case SPI is ready and there is nothing to send right now |
300 | if (!icnt && spi_ready) { |
300 | if (!icnt && spi_ready) { |
301 | // correct transfer ends with d (done) |
301 | // correct transfer ends with d (done) |
302 | if (spi_cmd_buffer[0] == 'd') { |
302 | if (spi_cmd_buffer[0] == 'd') { |
303 | ampere = spi_cmd_buffer[1] << 8; |
303 | ampere = spi_cmd_buffer[1] << 8; |
304 | ampere |= spi_cmd_buffer[2]; |
304 | ampere |= spi_cmd_buffer[2]; |
305 | ampere_wasted = spi_cmd_buffer[3]; |
305 | ampere_wasted = spi_cmd_buffer[3]; |
306 | ampere_wasted = ampere_wasted << 8; |
306 | ampere_wasted = ampere_wasted << 8; |
307 | ampere_wasted |= spi_cmd_buffer[4]; |
307 | ampere_wasted |= spi_cmd_buffer[4]; |
308 | ampere_wasted = ampere_wasted << 8; |
308 | ampere_wasted = ampere_wasted << 8; |
309 | ampere_wasted |= spi_cmd_buffer[5]; |
309 | ampere_wasted |= spi_cmd_buffer[5]; |
310 | ampere_wasted = ampere_wasted << 8; |
310 | ampere_wasted = ampere_wasted << 8; |
311 | ampere_wasted |= spi_cmd_buffer[6]; |
311 | ampere_wasted |= spi_cmd_buffer[6]; |
312 | //ampere = *((int16_t *) spi_cmd_buffer + 1); |
312 | //ampere = *((int16_t *) spi_cmd_buffer + 1); |
313 | //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3); |
313 | //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3); |
314 | // if this is the first receival we should print the small A |
314 | // if this is the first receival we should print the small A |
315 | if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) { |
315 | if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) { |
316 | clear(); |
316 | clear(); |
317 | COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN; |
317 | COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN; |
318 | // update this flag |
318 | // update this flag |
319 | COSD_FLAGS2 |= COSD_FLAG_STROMREC; |
319 | COSD_FLAGS2 |= COSD_FLAG_STROMREC; |
320 | } |
320 | } |
321 | //write_ascii_char(8+4*30, 'v'); // valid |
321 | //write_ascii_char(8+4*30, 'v'); // valid |
322 | } else { |
322 | } else { |
323 | // update flags |
323 | // update flags |
324 | COSD_FLAGS2 &= ~COSD_FLAG_STROMREC; |
324 | COSD_FLAGS2 &= ~COSD_FLAG_STROMREC; |
325 | //write_ascii_char(8+4*30, 'i'); // invalid |
325 | //write_ascii_char(8+4*30, 'i'); // invalid |
326 | } |
326 | } |
327 | spi_cmd_buffer[0] = 'A'; |
327 | spi_cmd_buffer[0] = 'A'; |
328 | spi_cmd_buffer[1] = 'B'; |
328 | spi_cmd_buffer[1] = 'B'; |
329 | spi_cmd_buffer[2] = 'C'; |
329 | spi_cmd_buffer[2] = 'C'; |
330 | spi_cmd_buffer[3] = 'D'; |
330 | spi_cmd_buffer[3] = 'D'; |
331 | spi_cmd_buffer[4] = 'E'; |
331 | spi_cmd_buffer[4] = 'E'; |
332 | spi_cmd_buffer[5] = 'F'; |
332 | spi_cmd_buffer[5] = 'F'; |
333 | spi_cmd_buffer[6] = 'G'; |
333 | spi_cmd_buffer[6] = 'G'; |
334 | StartTransfer((unsigned char*) spi_cmd_buffer, 7); |
334 | StartTransfer((unsigned char*) spi_cmd_buffer, 7); |
335 | } |
335 | } |
336 | if (rxd_buffer_locked) { |
336 | if (rxd_buffer_locked) { |
337 | #if FCONLY |
337 | #if FCONLY |
338 | if (rxd_buffer[2] == 'D') { // FC Data |
338 | if (rxd_buffer[2] == 'D') { // FC Data |
339 | Decode64(); |
339 | Decode64(); |
340 | debugData = *((DebugOut_t*) pRxData); |
340 | debugData = *((DebugOut_t*) pRxData); |
341 | 341 | ||
342 | // init on first data retrival, distinguished by last battery :) |
342 | // init on first data retrival, distinguished by last battery :) |
343 | if (last_UBat == 255) { |
343 | if (last_UBat == 255) { |
344 | // fix for min_UBat |
344 | // fix for min_UBat |
345 | min_UBat = debugData.Analog[9]; |
345 | min_UBat = debugData.Analog[9]; |
346 | init_cosd(debugData.Analog[9]); |
346 | init_cosd(debugData.Analog[9]); |
347 | } |
347 | } |
348 | #include "osd_fcmode_default.c" |
348 | #include OSD_FCMODE |
349 | } |
349 | } |
350 | #else |
350 | #else |
351 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
351 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
352 | Decode64(); |
352 | Decode64(); |
353 | naviData = *((NaviData_t*) pRxData); |
353 | naviData = *((NaviData_t*) pRxData); |
354 | 354 | ||
355 | // init on first data retrival, distinguished by last battery :) |
355 | // init on first data retrival, distinguished by last battery :) |
356 | if (last_UBat == 255) { |
356 | if (last_UBat == 255) { |
357 | // fix for min_UBat |
357 | // fix for min_UBat |
358 | min_UBat = naviData.UBat; |
358 | min_UBat = naviData.UBat; |
359 | init_cosd(naviData.UBat); |
359 | init_cosd(naviData.UBat); |
360 | } |
360 | } |
361 | #include "osd_ncmode_default.c" |
361 | #include OSD_NCMODE |
362 | } |
362 | } |
363 | #endif |
363 | #endif |
364 | rxd_buffer_locked = 0; |
364 | rxd_buffer_locked = 0; |
365 | } |
365 | } |
366 | // handle keypress |
366 | // handle keypress |
367 | if (s1_pressed()) { |
367 | if (s1_pressed()) { |
368 | config_menu(); |
368 | config_menu(); |
369 | } |
369 | } |
370 | if (seconds_since_last_data > 2) { |
370 | if (seconds_since_last_data > 2) { |
371 | #if FCONLY |
371 | #if FCONLY |
372 | // request data ever 100ms from FC; |
372 | // request data ever 100ms from FC; |
373 | usart1_request_mk_data(0, 'd', 100); |
373 | usart1_request_mk_data(0, 'd', 100); |
374 | #else |
374 | #else |
375 | // request OSD Data from NC every 100ms |
375 | // request OSD Data from NC every 100ms |
376 | usart1_request_mk_data(1, 'o', 100); |
376 | usart1_request_mk_data(1, 'o', 100); |
377 | 377 | ||
378 | // and disable debug... |
378 | // and disable debug... |
379 | usart1_request_mk_data(0, 'd', 0); |
379 | usart1_request_mk_data(0, 'd', 0); |
380 | 380 | ||
381 | // reset last time counter |
381 | // reset last time counter |
382 | seconds_since_last_data = 0; |
382 | seconds_since_last_data = 0; |
383 | #endif |
383 | #endif |
384 | } |
384 | } |
385 | } |
385 | } |
386 | #endif |
386 | #endif |
387 | return 0; |
387 | return 0; |
388 | } |
388 | } |
389 | 389 |