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