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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 * |
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project * |
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 | 36 | ||
37 | /* TODO: |
37 | /* TODO: |
38 | * - verifiy correctness of values |
38 | * - verifiy correctness of values |
39 | * - clean up code :) |
39 | * - clean up code :) |
40 | */ |
40 | */ |
41 | 41 | ||
42 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
42 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
43 | // data structs not needed for character flashin |
43 | // data structs not needed for character flashing |
44 | #include "mk-data-structs.h" |
44 | #include "mk-data-structs.h" |
45 | 45 | ||
46 | /* ########################################################################## |
46 | /* ########################################################################## |
47 | * global definitions and global vars |
47 | * global definitions and global vars |
48 | * ##########################################################################*/ |
48 | * ##########################################################################*/ |
49 | 49 | ||
50 | volatile uint16_t setsReceived = 0; |
50 | volatile uint16_t setsReceived = 0; |
51 | 51 | ||
52 | volatile NaviData_t naviData; |
52 | volatile NaviData_t naviData; |
53 | volatile DebugOut_t debugData; |
53 | volatile DebugOut_t debugData; |
54 | 54 | ||
55 | // cache old vars for blinking attribute, checkup is faster than full |
55 | // cache old vars for blinking attribute, checkup is faster than full |
56 | // attribute write each time |
56 | // attribute write each time |
57 | volatile uint8_t last_UBat = 255; |
57 | volatile uint8_t last_UBat = 255; |
58 | volatile uint8_t last_RC_Quality = 255; |
58 | volatile uint8_t last_RC_Quality = 255; |
59 | 59 | ||
60 | // 16bit should be enough, normal LiPos don't last that long |
60 | // 16bit should be enough, normal LiPos don't last that long |
61 | volatile uint16_t uptime = 0; |
61 | volatile uint16_t uptime = 0; |
62 | volatile uint16_t timer = 0; |
62 | volatile uint16_t timer = 0; |
63 | volatile uint8_t short_timer = 0; |
- | |
64 | 63 | ||
65 | // remember last time data was received |
64 | // remember last time data was received |
66 | volatile uint8_t seconds_since_last_data = 0; |
65 | volatile uint8_t seconds_since_last_data = 0; |
67 | 66 | ||
68 | // store stats description in progmem to save space |
67 | // store stats description in progmem to save space |
69 | char stats_item_0[] PROGMEM = "max Altitude:"; |
68 | char stats_item_0[] PROGMEM = "max Altitude:"; |
70 | char stats_item_1[] PROGMEM = "max Speed :"; |
69 | char stats_item_1[] PROGMEM = "max Speed :"; |
71 | char stats_item_2[] PROGMEM = "max Distance:"; |
70 | char stats_item_2[] PROGMEM = "max Distance:"; |
72 | char stats_item_3[] PROGMEM = "min voltage :"; |
71 | char stats_item_3[] PROGMEM = "min voltage :"; |
73 | char stats_item_4[] PROGMEM = "max time :"; |
72 | char stats_item_4[] PROGMEM = "max time :"; |
74 | char stats_item_5[] PROGMEM = "longitude :"; |
73 | char stats_item_5[] PROGMEM = "longitude :"; |
75 | char stats_item_6[] PROGMEM = "latitude :"; |
74 | char stats_item_6[] PROGMEM = "latitude :"; |
76 | char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
75 | char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
77 | stats_item_3, stats_item_4, stats_item_5, stats_item_6}; |
76 | stats_item_3, stats_item_4, stats_item_5, stats_item_6}; |
78 | 77 | ||
79 | // store more fixed strings in progmen |
78 | // store more fixed strings in progmen |
80 | char ON[] PROGMEM = "ON "; |
79 | char ON[] PROGMEM = "ON "; |
81 | char OFF[] PROGMEM = "OFF"; |
80 | char OFF[] PROGMEM = "OFF"; |
82 | 81 | ||
83 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
82 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
84 | 83 | ||
85 | // general PAL|NTSC distingiusch stuff |
84 | // general PAL|NTSC distingiusch stuff |
86 | uint8_t top_line = 1; |
85 | uint8_t top_line = 1; |
87 | uint8_t bottom_line = 14; |
86 | uint8_t bottom_line = 14; |
88 | 87 | ||
89 | // battery voltages |
88 | // battery voltages |
90 | uint8_t min_voltage = 0; |
89 | uint8_t min_voltage = 0; |
91 | uint8_t max_voltage = 0; |
90 | uint8_t max_voltage = 0; |
92 | 91 | ||
93 | // Flags |
92 | // Flags |
94 | uint8_t COSD_FLAGS = 0, COSD_FLAGS2; |
93 | uint8_t COSD_FLAGS = 0, COSD_FLAGS2; |
95 | 94 | ||
96 | /* ########################################################################## |
95 | /* ########################################################################## |
97 | * debounce buttons |
96 | * debounce buttons |
98 | * ##########################################################################*/ |
97 | * ##########################################################################*/ |
99 | int s1_pressed() { |
98 | int s1_pressed() { |
100 | if (S1_PRESSED) { |
99 | if (S1_PRESSED) { |
101 | _delay_ms(25); |
100 | _delay_ms(25); |
102 | if (S1_PRESSED) return 1; |
101 | if (S1_PRESSED) return 1; |
103 | } |
102 | } |
104 | return 0; |
103 | return 0; |
105 | } |
104 | } |
106 | 105 | ||
107 | int s2_pressed() { |
106 | int s2_pressed() { |
108 | if (S2_PRESSED) { |
107 | if (S2_PRESSED) { |
109 | _delay_ms(25); |
108 | _delay_ms(25); |
110 | if (S2_PRESSED) return 1; |
109 | if (S2_PRESSED) return 1; |
111 | } |
110 | } |
112 | return 0; |
111 | return 0; |
113 | } |
112 | } |
114 | 113 | ||
115 | /* ########################################################################## |
114 | /* ########################################################################## |
116 | * Interrupt handler |
115 | * Interrupt handler |
117 | * ##########################################################################*/ |
116 | * ##########################################################################*/ |
118 | 117 | ||
119 | /** |
118 | /** |
120 | * handler for undefined Interrupts |
119 | * handler for undefined Interrupts |
121 | * if not defined AVR will reset in case any unhandled interrupts occur |
120 | * if not defined AVR will reset in case any unhandled interrupts occur |
122 | */ |
121 | */ |
123 | ISR(__vector_default) { |
122 | ISR(__vector_default) { |
124 | asm("nop"); |
123 | asm("nop"); |
125 | } |
124 | } |
126 | 125 | ||
127 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
126 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
128 | /* ########################################################################## |
127 | /* ########################################################################## |
129 | * timer stuff |
128 | * timer stuff |
130 | * ##########################################################################*/ |
129 | * ##########################################################################*/ |
131 | 130 | ||
132 | 131 | ||
133 | /* ########################################################################## |
132 | /* ########################################################################## |
134 | * STROM TEST |
133 | * STROM TEST |
135 | * ##########################################################################*/ |
134 | * ##########################################################################*/ |
136 | #define INT0_HIGH PORTD |= (1 << PD2); |
135 | #define INT0_HIGH PORTD |= (1 << PD2); |
137 | #define INT0_LOW PORTD &= ~(1 << PD2); |
136 | #define INT0_LOW PORTD &= ~(1 << PD2); |
138 | 137 | ||
139 | void SpiMasterInit(void) |
- | |
140 | { |
138 | void SpiMasterInit(void) { |
141 | volatile char IOReg; |
139 | volatile char IOReg; |
142 | // set PB4(/SS), PB5(MOSI), PB7(SCK) as output |
140 | // set PB4(/SS), PB5(MOSI), PB7(SCK) as output |
143 | DDRB = (1<<PB4)|(1<<PB5)|(1<<PB7); |
141 | DDRB = (1 << PB4) | (1 << PB5) | (1 << PB7); |
144 | PORTB |= (1 << PB4); // pullup SS |
142 | PORTB |= (1 << PB4); // pullup SS |
145 | // enable SPI Interrupt and SPI in Master Mode with SCK = CK/128 |
143 | // enable SPI Interrupt and SPI in Master Mode with SCK = CK/128 |
146 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR0)|(1<<SPR1); |
144 | SPCR = (1 << SPIE) | (1 << SPE) | (1 << MSTR) | (1 << SPR0) | (1 << SPR1); |
147 | IOReg = SPSR; // clear SPIF bit in SPSR |
145 | IOReg = SPSR; // clear SPIF bit in SPSR |
148 | IOReg = SPDR; |
146 | IOReg = SPDR; |
149 | //sei(); // we do it later |
147 | //sei(); // we do it later |
150 | } |
148 | } |
151 | 149 | ||
152 | volatile size_t icnt = 0; |
150 | volatile size_t icnt = 0; |
153 | volatile unsigned char * iptr; |
151 | volatile unsigned char * iptr; |
154 | volatile unsigned char spi_cmd[5]; |
152 | volatile unsigned char spi_cmd_buffer[5]; |
155 | volatile uint8_t spi_ready = 1; |
153 | volatile uint8_t spi_ready = 1; |
156 | int16_t ampere = 0; |
154 | int16_t ampere = 0; |
- | 155 | ||
157 | 156 | /** |
|
158 | ISR(SPI_STC_vect) |
157 | * SPI interrupt handler |
159 | { |
- | |
160 | /* Empfangenes Byte im Puffer ablegen. */ |
158 | */ |
161 | *iptr++ = SPDR; |
159 | ISR(SPI_STC_vect) { |
162 | /* Zähler dekrementieren. */ |
160 | *iptr++ = SPDR; // safe received byte to buffer |
163 | icnt--; |
- | |
164 | /* Falls Zähler noch nicht 0 ist... */ |
161 | icnt--; // dec length |
165 | if (icnt) { |
- | |
166 | ///_delay_ms(1); |
162 | if (icnt) { |
167 | /* ...nächstes Byte senden. */ |
163 | //SPDR = *iptr; // send next byte |
168 | //SPDR = *iptr; |
- | |
169 | spi_ready = 1; |
- | |
170 | } |
164 | spi_ready = 1; // we _should_ send later because the slave needs more time |
171 | else { |
165 | } else { |
172 | /* ...andernfalls Interrupt Modus deaktivieren. */ |
166 | SPCR &= ~_BV(SPIE); // deactivate interrupt |
173 | SPCR &= ~_BV(SPIE); |
- | |
174 | INT0_HIGH |
- | |
175 | //_delay_ms(1); |
167 | INT0_HIGH // transfer is done, slave does not need to listen |
176 | } |
168 | } |
177 | } |
169 | } |
- | 170 | ||
178 | 171 | /** |
|
179 | int TransferIsBusy(void) |
172 | * check if SPI transfer is still busy |
- | 173 | */ |
|
180 | { |
174 | int TransferIsBusy(void) { |
181 | return SPCR & _BV(SPIE); |
175 | return SPCR & _BV(SPIE); |
182 | } |
176 | } |
- | 177 | ||
- | 178 | /** |
|
- | 179 | * start a new transfer of <data> with length <len> |
|
183 | 180 | */ |
|
- | 181 | void StartTransfer(unsigned char *data, size_t len) { |
|
184 | void StartTransfer(unsigned char *data, size_t len) |
182 | INT0_LOW // /SS LOW ^= SS HIGH ^= slave should listen |
185 | { |
- | |
186 | INT0_LOW |
183 | |
187 | /* Interrupt Datenpointer und Zähler setzen. */ |
184 | // set up pointer and length for interrupt handler |
188 | iptr = data; |
185 | iptr = data; |
189 | icnt = len; |
186 | icnt = len; |
190 | - | ||
191 | /* SPI Interrupt aktivieren und Transfer anstossen. */ |
187 | |
192 | SPCR |= _BV(SPIE); |
188 | SPCR |= _BV(SPIE); // enable spi interrupt |
193 | SPDR = *iptr; |
189 | SPDR = *iptr; // start transfer by first bye |
194 | } |
190 | } |
195 | 191 | ||
196 | 192 | ||
197 | /* ########################################################################## |
193 | /* ########################################################################## |
198 | * / STROM TEST END |
194 | * / STROM TEST END |
199 | * ##########################################################################*/ |
195 | * ##########################################################################*/ |
200 | - | ||
201 | 196 | ||
202 | /** |
197 | /** |
203 | * timer kicks in every 1000uS ^= 1ms |
198 | * timer kicks in every 1000uS ^= 1ms |
204 | */ |
199 | */ |
205 | ISR(TIMER0_OVF_vect) { |
200 | ISR(TIMER0_OVF_vect) { |
206 | OCR0 = 15; // preload |
201 | OCR0 = 15; // preload |
207 | if (!timer--) { |
202 | if (!timer--) { |
208 | uptime++; |
203 | uptime++; |
209 | timer = 999; |
204 | timer = 999; |
210 | seconds_since_last_data++; |
205 | seconds_since_last_data++; |
211 | } |
206 | } |
212 | short_timer++; |
207 | // in case there is still some spi data to send do it now |
213 | if (spi_ready && icnt) { |
208 | if (spi_ready && icnt) { |
214 | SPDR = *iptr; |
209 | SPDR = *iptr; |
215 | } |
210 | } |
216 | } |
211 | } |
217 | 212 | ||
218 | /* ########################################################################## |
213 | /* ########################################################################## |
219 | * A simple config menu for the flags |
214 | * A simple config menu for the flags |
220 | * ##########################################################################*/ |
215 | * ##########################################################################*/ |
221 | 216 | ||
222 | /** |
217 | /** |
223 | * helper function for menu updating |
218 | * helper function for menu updating |
224 | */ |
219 | */ |
225 | void config_menu_drawings(uint8_t chosen) { |
220 | void config_menu_drawings(uint8_t chosen) { |
226 | // clear prevoius _cursor_ |
221 | // clear prevoius _cursor_ |
227 | write_ascii_string(3, (chosen + 5) % 8, " "); |
222 | write_ascii_string(3, (chosen + 5) % 8, " "); |
228 | // draw current _cursor_ |
223 | // draw current _cursor_ |
229 | write_ascii_string(3, chosen + 5, ">"); |
224 | write_ascii_string(3, chosen + 5, ">"); |
230 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
225 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
231 | write_ascii_string_pgm(23, 5, ON); |
226 | write_ascii_string_pgm(23, 5, ON); |
232 | } else { |
227 | } else { |
233 | write_ascii_string_pgm(23, 5, OFF); |
228 | write_ascii_string_pgm(23, 5, OFF); |
234 | } |
229 | } |
235 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
230 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
236 | write_ascii_string_pgm(23, 6, ON); |
231 | write_ascii_string_pgm(23, 6, ON); |
237 | } else { |
232 | } else { |
238 | write_ascii_string_pgm(23, 6, OFF); |
233 | write_ascii_string_pgm(23, 6, OFF); |
239 | } |
234 | } |
240 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
235 | if (COSD_FLAGS & COSD_FLAG_BIGVARIO) { |
241 | write_ascii_string_pgm(23, 7, ON); |
236 | write_ascii_string_pgm(23, 7, ON); |
242 | } else { |
237 | } else { |
243 | write_ascii_string_pgm(23, 7, OFF); |
238 | write_ascii_string_pgm(23, 7, OFF); |
244 | } |
239 | } |
245 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
240 | if (COSD_FLAGS & COSD_FLAG_STATS) { |
246 | write_ascii_string_pgm(23, 8, ON); |
241 | write_ascii_string_pgm(23, 8, ON); |
247 | } else { |
242 | } else { |
248 | write_ascii_string_pgm(23, 8, OFF); |
243 | write_ascii_string_pgm(23, 8, OFF); |
249 | } |
244 | } |
250 | if (COSD_FLAGS & COSD_FLAG_WARNINGS) { |
245 | if (COSD_FLAGS & COSD_FLAG_WARNINGS) { |
251 | write_ascii_string_pgm(23, 9, ON); |
246 | write_ascii_string_pgm(23, 9, ON); |
252 | } else { |
247 | } else { |
253 | write_ascii_string_pgm(23, 9, OFF); |
248 | write_ascii_string_pgm(23, 9, OFF); |
254 | } |
249 | } |
255 | } |
250 | } |
256 | 251 | ||
257 | /** |
252 | /** |
258 | * some sort of clicking response in the menu |
253 | * some sort of clicking response in the menu |
259 | */ |
254 | */ |
260 | void config_menu_doclick(uint8_t chosen, char** menu) { |
255 | void config_menu_doclick(uint8_t chosen, char** menu) { |
261 | write_ascii_string(4, chosen + 5, "DONE "); |
256 | write_ascii_string(4, chosen + 5, "DONE "); |
262 | _delay_ms(1000); |
257 | _delay_ms(1000); |
263 | write_ascii_string(4, chosen + 5, menu[chosen]); |
258 | write_ascii_string(4, chosen + 5, menu[chosen]); |
264 | } |
259 | } |
265 | 260 | ||
266 | /** |
261 | /** |
267 | * a simple config menu tryout |
262 | * a simple config menu tryout |
268 | */ |
263 | */ |
269 | void config_menu(void) { |
264 | void config_menu(void) { |
270 | // disable interrupts (makes the menu more smoothely) |
265 | // disable interrupts (makes the menu more smoothely) |
271 | cli(); |
266 | cli(); |
272 | 267 | ||
273 | // clear screen |
268 | // clear screen |
274 | clear(); |
269 | clear(); |
275 | 270 | ||
276 | char* menu[9] = {"Full HUD", |
271 | char* menu[9] = {"Full HUD", |
277 | "Art.Horizon in HUD", |
272 | "Art.Horizon in HUD", |
278 | "Big Vario bar", |
273 | "Big Vario bar", |
279 | "Statistics", |
274 | "Statistics", |
280 | "Warnings", // TODO: do it! |
275 | "Warnings", // TODO: do it! |
281 | "Reset uptime", |
276 | "Reset uptime", |
282 | "Request OSD-data", |
277 | "Request OSD-data", |
283 | "Disable Debug-data", |
278 | "Disable Debug-data", |
284 | "EXIT"}; |
279 | "EXIT"}; |
285 | 280 | ||
286 | uint8_t inmenu = 1; |
281 | uint8_t inmenu = 1; |
287 | uint8_t chosen = 0; |
282 | uint8_t chosen = 0; |
288 | write_ascii_string(6, 2, "C-OSD Config Menu"); |
283 | write_ascii_string(6, 2, "C-OSD Config Menu"); |
289 | 284 | ||
290 | // wait a bit before doing stuff so user has chance to release button |
285 | // wait a bit before doing stuff so user has chance to release button |
291 | _delay_ms(250); |
286 | _delay_ms(250); |
292 | 287 | ||
293 | write_ascii_string(4, 5, menu[0]); |
288 | write_ascii_string(4, 5, menu[0]); |
294 | write_ascii_string(4, 6, menu[1]); |
289 | write_ascii_string(4, 6, menu[1]); |
295 | write_ascii_string(4, 7, menu[2]); |
290 | write_ascii_string(4, 7, menu[2]); |
296 | write_ascii_string(4, 8, menu[3]); |
291 | write_ascii_string(4, 8, menu[3]); |
297 | write_ascii_string(4, 9, menu[4]); |
292 | write_ascii_string(4, 9, menu[4]); |
298 | write_ascii_string(4, 10, menu[5]); |
293 | write_ascii_string(4, 10, menu[5]); |
299 | write_ascii_string(4, 11, menu[6]); |
294 | write_ascii_string(4, 11, menu[6]); |
300 | write_ascii_string(4, 12, menu[7]); |
295 | write_ascii_string(4, 12, menu[7]); |
301 | write_ascii_string(4, 13, menu[8]); |
296 | write_ascii_string(4, 13, menu[8]); |
302 | 297 | ||
303 | config_menu_drawings(chosen); |
298 | config_menu_drawings(chosen); |
304 | 299 | ||
305 | while (inmenu) { |
300 | while (inmenu) { |
306 | if (s2_pressed()) { |
301 | if (s2_pressed()) { |
307 | write_ascii_string(3, chosen + 5, " "); |
302 | write_ascii_string(3, chosen + 5, " "); |
308 | chosen = (chosen + 1) % 9; |
303 | chosen = (chosen + 1) % 9; |
309 | write_ascii_string(3, chosen + 5, ">"); |
304 | write_ascii_string(3, chosen + 5, ">"); |
310 | _delay_ms(500); |
305 | _delay_ms(500); |
311 | } else if (s1_pressed()) { |
306 | } else if (s1_pressed()) { |
312 | switch (chosen) { |
307 | switch (chosen) { |
313 | case 0: // full HUD |
308 | case 0: // full HUD |
314 | COSD_FLAGS ^= COSD_FLAG_HUD; |
309 | COSD_FLAGS ^= COSD_FLAG_HUD; |
315 | config_menu_drawings(chosen); |
310 | config_menu_drawings(chosen); |
316 | break; |
311 | break; |
317 | case 1: // art horizon |
312 | case 1: // art horizon |
318 | COSD_FLAGS ^= COSD_FLAG_ARTHORIZON; |
313 | COSD_FLAGS ^= COSD_FLAG_ARTHORIZON; |
319 | config_menu_drawings(chosen); |
314 | config_menu_drawings(chosen); |
320 | break; |
315 | break; |
321 | case 2: // big vario |
316 | case 2: // big vario |
322 | COSD_FLAGS ^= COSD_FLAG_BIGVARIO; |
317 | COSD_FLAGS ^= COSD_FLAG_BIGVARIO; |
323 | config_menu_drawings(chosen); |
318 | config_menu_drawings(chosen); |
324 | break; |
319 | break; |
325 | case 3: // statistics |
320 | case 3: // statistics |
326 | COSD_FLAGS ^= COSD_FLAG_STATS; |
321 | COSD_FLAGS ^= COSD_FLAG_STATS; |
327 | config_menu_drawings(chosen); |
322 | config_menu_drawings(chosen); |
328 | break; |
323 | break; |
329 | case 4: // warnings |
324 | case 4: // warnings |
330 | COSD_FLAGS ^= COSD_FLAG_WARNINGS; |
325 | COSD_FLAGS ^= COSD_FLAG_WARNINGS; |
331 | config_menu_drawings(chosen); |
326 | config_menu_drawings(chosen); |
332 | break; |
327 | break; |
333 | case 5: // reset uptime |
328 | case 5: // reset uptime |
334 | uptime = 0; |
329 | uptime = 0; |
335 | config_menu_doclick(chosen, menu); |
330 | config_menu_doclick(chosen, menu); |
336 | break; |
331 | break; |
337 | case 6: // re-request OSD data |
332 | case 6: // re-request OSD data |
338 | #if FCONLY |
333 | #if FCONLY |
339 | // request data ever 100ms from FC; |
334 | // request data ever 100ms from FC; |
340 | usart1_request_mk_data(0, 'd', 100); |
335 | usart1_request_mk_data(0, 'd', 100); |
341 | #else |
336 | #else |
342 | // request OSD Data from NC every 100ms |
337 | // request OSD Data from NC every 100ms |
343 | usart1_request_mk_data(1, 'o', 100); |
338 | usart1_request_mk_data(1, 'o', 100); |
344 | 339 | ||
345 | // and disable debug... |
340 | // and disable debug... |
346 | usart1_request_mk_data(0, 'd', 0); |
341 | usart1_request_mk_data(0, 'd', 0); |
347 | #endif |
342 | #endif |
348 | config_menu_doclick(chosen, menu); |
343 | config_menu_doclick(chosen, menu); |
349 | break; |
344 | break; |
350 | case 7: // disable debug data |
345 | case 7: // disable debug data |
351 | // disable sending of debug data |
346 | // disable sending of debug data |
352 | // may result in smoother ddata display |
347 | // may result in smoother ddata display |
353 | usart1_request_mk_data(0, 'd', 0); |
348 | usart1_request_mk_data(0, 'd', 0); |
354 | config_menu_doclick(chosen, menu); |
349 | config_menu_doclick(chosen, menu); |
355 | break; |
350 | break; |
356 | case 8: // exit |
351 | case 8: // exit |
357 | inmenu = 0; |
352 | inmenu = 0; |
358 | break; |
353 | break; |
359 | } |
354 | } |
360 | _delay_ms(250); |
355 | _delay_ms(250); |
361 | } |
356 | } |
362 | } |
357 | } |
363 | 358 | ||
364 | // clear screen up again |
359 | // clear screen up again |
365 | clear(); |
360 | clear(); |
366 | 361 | ||
367 | // update flags to paint display again if needed |
362 | // update flags to paint display again if needed |
368 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
363 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
369 | 364 | ||
370 | // enable interrupts again |
365 | // enable interrupts again |
371 | sei(); |
366 | sei(); |
372 | } |
367 | } |
373 | 368 | ||
374 | /** |
369 | /** |
375 | * auto config some stuff on startup, currently only battery cells |
370 | * auto config some stuff on startup, currently only battery cells |
376 | * TODO: this is testing stuff, strings should go progmem and so on... |
371 | * TODO: this is testing stuff, strings should go progmem and so on... |
377 | */ |
372 | */ |
378 | void auto_config(uint8_t UBat) { |
373 | void auto_config(uint8_t UBat) { |
379 | clear(); |
374 | clear(); |
380 | write_ascii_string(2, 2, "C-OSD Initialisation"); |
375 | write_ascii_string(2, 2, "C-OSD Initialisation"); |
381 | #if FCONLY |
376 | #if FCONLY |
382 | write_ascii_string(2, 3, "FC only Mode"); |
377 | write_ascii_string(2, 3, "FC only Mode"); |
383 | #else |
378 | #else |
384 | write_ascii_string(2, 3, "NaviCtrl Mode"); |
379 | write_ascii_string(2, 3, "NaviCtrl Mode"); |
385 | #endif |
380 | #endif |
386 | write_ascii_string(2, 4, BUILDDATE); |
381 | write_ascii_string(2, 4, BUILDDATE); |
387 | uint8_t cellnum = 0; |
382 | uint8_t cellnum = 0; |
388 | if (CELL_NUM == -1) { |
383 | if (CELL_NUM == -1) { |
389 | write_ascii_string(2, 6, "Guessing Number of Cells"); |
384 | write_ascii_string(2, 6, "Guessing Number of Cells"); |
390 | do { |
385 | do { |
391 | cellnum++; |
386 | cellnum++; |
392 | } while (UBat > ((cellnum * CELL_VOLT_MAX) + 15)); |
387 | } while (UBat > ((cellnum * CELL_VOLT_MAX) + 23)); |
393 | } else { |
388 | } else { |
394 | cellnum = CELL_NUM; |
389 | cellnum = CELL_NUM; |
395 | } |
390 | } |
396 | min_voltage = cellnum * CELL_VOLT_MIN; |
391 | min_voltage = cellnum * CELL_VOLT_MIN; |
397 | max_voltage = cellnum * CELL_VOLT_MAX; |
392 | max_voltage = cellnum * CELL_VOLT_MAX; |
398 | write_ascii_string(2, 7, "Number of Cells:"); |
393 | write_ascii_string(2, 7, "Number of Cells:"); |
399 | write_ndigit_number_u(21, 7, cellnum, 1, 0); |
394 | write_ndigit_number_u(21, 7, cellnum, 1, 0); |
400 | write_ascii_string(2, 8, "Warn Voltage :"); |
395 | write_ascii_string(2, 8, "Warn Voltage :"); |
401 | write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0); |
396 | write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0); |
402 | write_ascii_string(2, 9, "Max Voltage :"); |
397 | write_ascii_string(2, 9, "Max Voltage :"); |
403 | write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0); |
398 | write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0); |
404 | _delay_ms(200); |
399 | _delay_ms(200); |
405 | clear(); |
400 | clear(); |
406 | // update flags to paint display again because of clear |
401 | // update flags to paint display again because of clear |
407 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
402 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
408 | } |
403 | } |
409 | 404 | ||
410 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
405 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
411 | 406 | ||
412 | /* ########################################################################## |
407 | /* ########################################################################## |
413 | * MAIN |
408 | * MAIN |
414 | * ##########################################################################*/ |
409 | * ##########################################################################*/ |
415 | int main(void) { |
410 | int main(void) { |
416 | 411 | ||
417 | // set up FLAGS, compiler should flatten this one |
412 | // set up FLAGS, compiler should flatten this one |
418 | COSD_FLAGS = (NTSC << 0); |
413 | COSD_FLAGS = (NTSC << 0); |
419 | COSD_FLAGS |= (HUD << 1); |
414 | COSD_FLAGS |= (HUD << 1); |
420 | COSD_FLAGS |= (ARTHORIZON << 2); |
415 | COSD_FLAGS |= (ARTHORIZON << 2); |
421 | COSD_FLAGS |= (BIGVARIO << 3); |
416 | COSD_FLAGS |= (BIGVARIO << 3); |
422 | COSD_FLAGS |= (STATS << 4); |
417 | COSD_FLAGS |= (STATS << 4); |
423 | COSD_FLAGS |= (WARNINGS << 5); |
418 | COSD_FLAGS |= (WARNINGS << 5); |
424 | 419 | ||
425 | // set up Atmega162 Ports |
420 | // set up Atmega162 Ports |
426 | DDRA |= (1 << PA1); // PA1 output (/CS) |
421 | DDRA |= (1 << PA1); // PA1 output (/CS) |
427 | MAX_CS_HIGH |
422 | MAX_CS_HIGH |
428 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
423 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
429 | MAX_SDIN_LOW |
424 | MAX_SDIN_LOW |
430 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
425 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
431 | MAX_SCLK_LOW |
426 | MAX_SCLK_LOW |
432 | DDRA |= (1 << PA5); // PA5 output (RESET) |
427 | DDRA |= (1 << PA5); // PA5 output (RESET) |
433 | MAX_RESET_HIGH |
428 | MAX_RESET_HIGH |
434 | 429 | ||
435 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
430 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
436 | LED1_OFF |
431 | LED1_OFF |
437 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
432 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
438 | LED2_OFF |
433 | LED2_OFF |
439 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
434 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
440 | LED3_OFF |
435 | LED3_OFF |
441 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
436 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
442 | LED4_OFF |
437 | LED4_OFF |
443 | 438 | ||
444 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
439 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
445 | PORTC |= (1 << PC4); // pullup |
440 | PORTC |= (1 << PC4); // pullup |
446 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
441 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
447 | PORTC |= (1 << PC5); // pullup |
442 | PORTC |= (1 << PC5); // pullup |
448 | 443 | ||
449 | // set up top and bottom lines |
444 | // set up top and bottom lines |
450 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
445 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
451 | bottom_line = 12; |
446 | bottom_line = 12; |
452 | } else { |
447 | } else { |
453 | bottom_line = 14; |
448 | bottom_line = 14; |
454 | } |
449 | } |
455 | 450 | ||
456 | // reset the MAX7456 to be sure any undefined states do no harm |
451 | // reset the MAX7456 to be sure any undefined states do no harm |
457 | MAX_RESET_LOW |
452 | MAX_RESET_LOW |
458 | MAX_RESET_HIGH |
453 | MAX_RESET_HIGH |
459 | 454 | ||
460 | // give the FC/NC and the maxim time to come up |
455 | // give the FC/NC and the maxim time to come up |
461 | LED4_ON |
456 | LED4_ON |
462 | _delay_ms(2000); |
457 | _delay_ms(2000); |
463 | 458 | ||
464 | LED4_OFF |
459 | LED4_OFF |
465 | 460 | ||
466 | 461 | ||
467 | //Pushing NEW chars to the MAX7456 |
462 | //Pushing NEW chars to the MAX7456 |
468 | #if (WRITECHARS != -1) |
463 | #if (WRITECHARS != -1) |
469 | // DISABLE display (VM0) |
464 | // DISABLE display (VM0) |
470 | spi_send_byte(0x00, 0b00000000); |
465 | spi_send_byte(0x00, 0b00000000); |
471 | #include "characters.c" |
466 | #include "characters.c" |
472 | #endif |
467 | #endif |
473 | 468 | ||
474 | // Setup Video Mode |
469 | // Setup Video Mode |
475 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
470 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
476 | // NTSC + enable display immediately (VM0) |
471 | // NTSC + enable display immediately (VM0) |
477 | spi_send_byte(0x00, 0b00001000); |
472 | spi_send_byte(0x00, 0b00001000); |
478 | } else { |
473 | } else { |
479 | // PAL + enable display immediately (VM0) |
474 | // PAL + enable display immediately (VM0) |
480 | spi_send_byte(0x00, 0b01001000); |
475 | spi_send_byte(0x00, 0b01001000); |
481 | } |
476 | } |
482 | 477 | ||
483 | /*// clear all display-mem (DMM) |
478 | /*// clear all display-mem (DMM) |
484 | spi_send_byte(0x04, 0b00000100); |
479 | spi_send_byte(0x04, 0b00000100); |
485 | 480 | ||
486 | // clearing takes 12uS according to maxim so lets wait longer |
481 | // clearing takes 12uS according to maxim so lets wait longer |
487 | _delay_us(120); |
482 | _delay_us(120); |
488 | 483 | ||
489 | // 8bit mode |
484 | // 8bit mode |
490 | spi_send_byte(0x04, 0b01000000);*/ |
485 | spi_send_byte(0x04, 0b01000000);*/ |
491 | 486 | ||
492 | // clear display memory and set to 8bit mode |
487 | // clear display memory and set to 8bit mode |
493 | clear(); |
488 | clear(); |
494 | 489 | ||
495 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
490 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
496 | // init usart |
491 | // init usart |
497 | usart1_init(); |
492 | usart1_init(); |
498 | 493 | ||
499 | // set up timer |
494 | // set up timer |
500 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
495 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
501 | OCR0 = 15; // preload |
496 | OCR0 = 15; // preload |
502 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
497 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
503 | 498 | ||
504 | DDRD |= (1 << PD2); // PD2 output (INT0) |
499 | DDRD |= (1 << PD2); // PD2 output (INT0) |
505 | SpiMasterInit(); |
500 | SpiMasterInit(); |
506 | 501 | ||
507 | // enable interrupts |
502 | // enable interrupts |
508 | sei(); |
503 | sei(); |
509 | 504 | ||
510 | #endif |
505 | #endif |
511 | 506 | ||
512 | //write_ascii_string(2, 7, " CaScAdE "); |
507 | //write_ascii_string(2, 7, " CaScAdE "); |
513 | //write_ascii_string(2, 8, "is TESTING his open source"); |
508 | //write_ascii_string(2, 8, "is TESTING his open source"); |
514 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
509 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
515 | 510 | ||
516 | // we are ready |
511 | // we are ready |
517 | LED3_ON |
512 | LED3_ON |
518 | 513 | ||
519 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
514 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
520 | clear(); |
515 | clear(); |
521 | write_all_chars(); |
516 | write_all_chars(); |
522 | #else |
517 | #else |
523 | // clear serial screen |
518 | // clear serial screen |
524 | //usart1_puts("\x1B[2J\x1B[H"); |
519 | //usart1_puts("\x1B[2J\x1B[H"); |
525 | //usart1_puts("hello world!\r\n"); |
520 | //usart1_puts("hello world!\r\n"); |
526 | #if FCONLY |
521 | #if FCONLY |
527 | // request data ever 100ms from FC; |
522 | // request data ever 100ms from FC; |
528 | usart1_request_mk_data(0, 'd', 100); |
523 | usart1_request_mk_data(0, 'd', 100); |
529 | #else |
524 | #else |
530 | // request OSD Data from NC every 100ms |
525 | // request OSD Data from NC every 100ms |
531 | usart1_request_mk_data(1, 'o', 100); |
526 | usart1_request_mk_data(1, 'o', 100); |
532 | 527 | ||
533 | // and disable debug... |
528 | // and disable debug... |
534 | usart1_request_mk_data(0, 'd', 0); |
529 | usart1_request_mk_data(0, 'd', 0); |
535 | #endif |
530 | #endif |
536 | 531 | ||
537 | // stats for after flight |
532 | // stats for after flight |
538 | int16_t max_Altimeter = 0; |
533 | int16_t max_Altimeter = 0; |
539 | uint8_t min_UBat = 255; |
534 | uint8_t min_UBat = 255; |
540 | #if !(FCONLY) |
535 | #if !(FCONLY) |
541 | uint16_t max_GroundSpeed = 0; |
536 | uint16_t max_GroundSpeed = 0; |
542 | int16_t max_Distance = 0; |
537 | int16_t max_Distance = 0; |
543 | uint16_t max_FlyingTime = 0; |
538 | uint16_t max_FlyingTime = 0; |
544 | 539 | ||
545 | // flags from last round to check for changes |
540 | // flags from last round to check for changes |
546 | uint8_t old_MKFlags = 0; |
541 | uint8_t old_MKFlags = 0; |
547 | 542 | ||
548 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
543 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
549 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
544 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
550 | #endif |
545 | #endif |
551 | 546 | ||
552 | 547 | ||
553 | 548 | ||
554 | while (1) { |
549 | while (1) { |
- | 550 | // in case SPI is ready and there is nothing to send right now |
|
555 | if (!icnt && spi_ready) { |
551 | if (!icnt && spi_ready) { |
556 | short_timer = 0; |
552 | // correct transfer ends with d (done) |
557 | ampere = spi_cmd[1] << 8; |
553 | if (spi_cmd_buffer[0] == 'd') { |
558 | ampere |= spi_cmd[2]; |
554 | ampere = spi_cmd_buffer[1] << 8; |
559 | //write_ascii_char(7+4*30, spi_cmd[0]); |
555 | ampere |= spi_cmd_buffer[2]; |
560 | - | ||
561 | if (spi_cmd[0] == 'd') { |
556 | // update flags |
562 | COSD_FLAGS2 |= COSD_FLAG_STROMREC; |
557 | COSD_FLAGS2 |= COSD_FLAG_STROMREC; |
563 | //write_ascii_char(8+4*30, 'v'); // valid |
558 | //write_ascii_char(8+4*30, 'v'); // valid |
564 | } else { |
559 | } else { |
- | 560 | // update flags |
|
565 | COSD_FLAGS2 &= ~COSD_FLAG_STROMREC; |
561 | COSD_FLAGS2 &= ~COSD_FLAG_STROMREC; |
566 | //write_ascii_char(8+4*30, 'i'); // invalid |
562 | //write_ascii_char(8+4*30, 'i'); // invalid |
567 | } |
563 | } |
568 | spi_cmd[0] = 'A'; |
564 | spi_cmd_buffer[0] = 'A'; |
569 | spi_cmd[1] = 'B'; |
565 | spi_cmd_buffer[1] = 'B'; |
570 | spi_cmd[2] = 'C'; |
566 | spi_cmd_buffer[2] = 'C'; |
571 | StartTransfer((unsigned char*)spi_cmd, 3); |
567 | StartTransfer((unsigned char*) spi_cmd_buffer, 3); |
572 | } |
568 | } |
573 | if (rxd_buffer_locked) { |
569 | if (rxd_buffer_locked) { |
574 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
570 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
575 | #if FCONLY |
571 | #if FCONLY |
576 | if (rxd_buffer[2] == 'D') { // FC Data |
572 | if (rxd_buffer[2] == 'D') { // FC Data |
577 | Decode64(); |
573 | Decode64(); |
578 | debugData = *((DebugOut_t*) pRxData); |
574 | debugData = *((DebugOut_t*) pRxData); |
579 | 575 | ||
580 | // init on first data retrival, distinguished by last battery :) |
576 | // init on first data retrival, distinguished by last battery :) |
581 | if (last_UBat == 255) { |
577 | if (last_UBat == 255) { |
582 | // fix for min_UBat |
578 | // fix for min_UBat |
583 | min_UBat = debugData.Analog[9]; |
579 | min_UBat = debugData.Analog[9]; |
584 | auto_config(debugData.Analog[9]); |
580 | auto_config(debugData.Analog[9]); |
585 | } |
581 | } |
586 | #include "osd_fcmode_default.c" |
582 | #include "osd_fcmode_default.c" |
587 | } |
583 | } |
588 | #else |
584 | #else |
589 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
585 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
590 | Decode64(); |
586 | Decode64(); |
591 | naviData = *((NaviData_t*) pRxData); |
587 | naviData = *((NaviData_t*) pRxData); |
592 | 588 | ||
593 | // init on first data retrival, distinguished by last battery :) |
589 | // init on first data retrival, distinguished by last battery :) |
594 | if (last_UBat == 255) { |
590 | if (last_UBat == 255) { |
595 | // fix for min_UBat |
591 | // fix for min_UBat |
596 | min_UBat = naviData.UBat; |
592 | min_UBat = naviData.UBat; |
597 | auto_config(naviData.UBat); |
593 | auto_config(naviData.UBat); |
598 | } |
594 | } |
599 | #include "osd_ncmode_default.c" |
595 | #include "osd_ncmode_default.c" |
600 | } |
596 | } |
601 | #endif |
597 | #endif |
602 | } |
598 | } |
603 | rxd_buffer_locked = 0; |
599 | rxd_buffer_locked = 0; |
604 | } |
600 | } |
605 | // handle keypress |
601 | // handle keypress |
606 | if (s1_pressed()) { |
602 | if (s1_pressed()) { |
607 | config_menu(); |
603 | config_menu(); |
608 | } |
604 | } |
609 | if (seconds_since_last_data > 2) { |
605 | if (seconds_since_last_data > 2) { |
610 | #if FCONLY |
606 | #if FCONLY |
611 | // request data ever 100ms from FC; |
607 | // request data ever 100ms from FC; |
612 | usart1_request_mk_data(0, 'd', 100); |
608 | usart1_request_mk_data(0, 'd', 100); |
613 | #else |
609 | #else |
614 | // request OSD Data from NC every 100ms |
610 | // request OSD Data from NC every 100ms |
615 | usart1_request_mk_data(1, 'o', 100); |
611 | usart1_request_mk_data(1, 'o', 100); |
616 | 612 | ||
617 | // and disable debug... |
613 | // and disable debug... |
618 | usart1_request_mk_data(0, 'd', 0); |
614 | usart1_request_mk_data(0, 'd', 0); |
619 | #endif |
615 | #endif |
620 | } |
616 | } |
621 | } |
617 | } |
622 | #endif |
618 | #endif |
623 | return 0; |
619 | return 0; |
624 | } |
620 | } |
625 | 621 |