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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009-2010 by Claas Anders "CaScAdE" Rathje * |
3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
5 | * * |
5 | * * |
6 | * This program is free software; you can redistribute it and/or modify * |
6 | * This program is free software; you can redistribute it and/or modify * |
7 | * it under the terms of the GNU General Public License as published by * |
7 | * it under the terms of the GNU General Public License as published by * |
8 | * the Free Software Foundation; either version 2 of the License. * |
8 | * the Free Software Foundation; either version 2 of the License. * |
9 | * * |
9 | * * |
10 | * This program is distributed in the hope that it will be useful, * |
10 | * This program is distributed in the hope that it will be useful, * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
13 | * GNU General Public License for more details. * |
13 | * GNU General Public License for more details. * |
14 | * * |
14 | * * |
15 | * You should have received a copy of the GNU General Public License * |
15 | * You should have received a copy of the GNU General Public License * |
16 | * along with this program; if not, write to the * |
16 | * along with this program; if not, write to the * |
17 | * Free Software Foundation, Inc., * |
17 | * Free Software Foundation, Inc., * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
19 | * * |
19 | * * |
20 | * * |
20 | * * |
21 | * Credits to: * |
21 | * Credits to: * |
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
24 | * Klaus "akku" Buettner for the hardware * |
24 | * Klaus "akku" Buettner for the hardware * |
25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
26 | ****************************************************************************/ |
26 | ****************************************************************************/ |
27 | 27 | ||
28 | #include <avr/io.h> |
28 | #include <avr/io.h> |
29 | #include <avr/interrupt.h> |
29 | #include <avr/interrupt.h> |
30 | #include <util/delay.h> |
30 | #include <util/delay.h> |
31 | #include <avr/pgmspace.h> |
31 | #include <avr/pgmspace.h> |
32 | #include "main.h" |
32 | #include "main.h" |
33 | #include "max7456_software_spi.h" |
33 | #include "max7456_software_spi.h" |
34 | #include "usart1.h" |
34 | #include "usart1.h" |
35 | #include "osd_helpers.h" |
35 | #include "osd_helpers.h" |
36 | #include "config.h" |
36 | #include "config.h" |
37 | #include "spi.h" |
37 | #include "spi.h" |
38 | #include "buttons.h" |
38 | #include "buttons.h" |
39 | #include "ppm.h" |
39 | #include "ppm.h" |
40 | #include "osd_ncmode_default.h" |
40 | #include "osd_ncmode_default.h" |
41 | #include "osd_ncmode_minimal.h" |
41 | #include "osd_ncmode_minimal.h" |
42 | #include "osd_fcmode_default.h" |
42 | #include "osd_fcmode_default.h" |
43 | #include "osd_fcmode_jopl.h" |
43 | #include "osd_fcmode_jopl.h" |
44 | 44 | ||
45 | #if WRITECHARS != -1 |
45 | #if WRITECHARS != -1 |
46 | #include "characters.h" |
46 | #include "characters.h" |
47 | #endif |
47 | #endif |
48 | 48 | ||
49 | /* TODO: |
49 | /* TODO: |
50 | * - verifiy correctness of values |
50 | * - verifiy correctness of values |
51 | * - clean up code :) |
51 | * - clean up code :) |
52 | */ |
52 | */ |
53 | 53 | ||
54 | 54 | ||
55 | /* ########################################################################## |
55 | /* ########################################################################## |
56 | * global definitions and global vars |
56 | * global definitions and global vars |
57 | * ##########################################################################*/ |
57 | * ##########################################################################*/ |
58 | 58 | ||
59 | volatile NaviData_t naviData; |
59 | volatile NaviData_t naviData; |
60 | volatile DebugOut_t debugData; |
60 | volatile DebugOut_t debugData; |
61 | 61 | ||
62 | // cache old vars for blinking attribute, checkup is faster than full |
62 | // cache old vars for blinking attribute, checkup is faster than full |
63 | // attribute write each time |
63 | // attribute write each time |
64 | volatile uint8_t last_UBat = 255; |
64 | volatile uint8_t last_UBat = 255; |
65 | volatile uint8_t last_RC_Quality = 255; |
65 | volatile uint8_t last_RC_Quality = 255; |
66 | 66 | ||
67 | // 16bit should be enough, normal LiPos don't last that long |
67 | // 16bit should be enough, normal LiPos don't last that long |
68 | volatile uint16_t uptime = 0; |
68 | volatile uint16_t uptime = 0; |
69 | volatile uint16_t timer = 0; |
69 | volatile uint16_t timer = 0; |
70 | volatile uint16_t flytime_fc = 0; |
70 | volatile uint16_t flytime_fc = 0; |
71 | 71 | ||
72 | // remember last time data was received |
72 | // remember last time data was received |
73 | volatile uint8_t seconds_since_last_data = 0; |
73 | volatile uint8_t seconds_since_last_data = 0; |
74 | 74 | ||
75 | // general PAL|NTSC distingiusch stuff |
75 | // general PAL|NTSC distingiusch stuff |
76 | uint8_t top_line = 1; |
76 | uint8_t top_line = 1; |
77 | uint8_t bottom_line = 14; |
77 | uint8_t bottom_line = 14; |
78 | 78 | ||
79 | // battery voltages |
79 | // battery voltages |
80 | uint8_t min_voltage = 0; |
80 | uint8_t min_voltage = 0; |
81 | uint8_t max_voltage = 0; |
81 | uint8_t max_voltage = 0; |
82 | 82 | ||
83 | // Flags |
83 | // Flags |
84 | uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
84 | uint8_t COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0, COSD_DISPLAYMODE = 0; |
85 | 85 | ||
86 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
86 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
87 | 87 | ||
88 | // stats for after flight |
88 | // stats for after flight |
89 | int16_t max_Altimeter = 0; |
89 | int16_t max_Altimeter = 0; |
90 | uint8_t min_UBat = 255; |
90 | uint8_t min_UBat = 255; |
91 | uint16_t max_GroundSpeed = 0; |
91 | uint16_t max_GroundSpeed = 0; |
92 | int16_t max_Distance = 0; |
92 | int16_t max_Distance = 0; |
93 | uint16_t max_FlyingTime = 0; |
93 | uint16_t max_FlyingTime = 0; |
94 | 94 | ||
95 | // flags from last round to check for changes |
95 | // flags from last round to check for changes |
96 | uint8_t old_MKFlags = 0; |
96 | uint8_t old_MKFlags = 0; |
97 | 97 | ||
98 | // store stats description in progmem to save space |
98 | // store stats description in progmem to save space |
99 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
99 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
100 | const char stats_item_1[] PROGMEM = "max Speed :"; |
100 | const char stats_item_1[] PROGMEM = "max Speed :"; |
101 | const char stats_item_2[] PROGMEM = "max Distance:"; |
101 | const char stats_item_2[] PROGMEM = "max Distance:"; |
102 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
102 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
103 | const char stats_item_4[] PROGMEM = "max Time :"; |
103 | const char stats_item_4[] PROGMEM = "max Time :"; |
104 | const char stats_item_5[] PROGMEM = "longitude :"; |
104 | const char stats_item_5[] PROGMEM = "longitude :"; |
105 | const char stats_item_6[] PROGMEM = "latitude :"; |
105 | const char stats_item_6[] PROGMEM = "latitude :"; |
106 | const char stats_item_7[] PROGMEM = "max current :"; |
106 | const char stats_item_7[] PROGMEM = "max current :"; |
107 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
107 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
108 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
108 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
109 | 109 | ||
110 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
110 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
111 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
111 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
112 | const char str_NE[] PROGMEM = "NE"; |
112 | const char str_NE[] PROGMEM = "NE"; |
113 | const char str_E[] PROGMEM = "E "; |
113 | const char str_E[] PROGMEM = "E "; |
114 | const char str_SE[] PROGMEM = "SE"; |
114 | const char str_SE[] PROGMEM = "SE"; |
115 | const char str_S[] PROGMEM = "S "; |
115 | const char str_S[] PROGMEM = "S "; |
116 | const char str_SW[] PROGMEM = "SW"; |
116 | const char str_SW[] PROGMEM = "SW"; |
117 | const char str_W[] PROGMEM = "W "; |
117 | const char str_W[] PROGMEM = "W "; |
118 | const char str_NW[] PROGMEM = "NW"; |
118 | const char str_NW[] PROGMEM = "NW"; |
119 | const char str_N[] PROGMEM = "N "; |
119 | const char str_N[] PROGMEM = "N "; |
120 | const char *directions[8] PROGMEM = { |
120 | const char *directions[8] PROGMEM = { |
121 | str_NE, |
121 | str_NE, |
122 | str_E, |
122 | str_E, |
123 | str_SE, |
123 | str_SE, |
124 | str_S, |
124 | str_S, |
125 | str_SW, |
125 | str_SW, |
126 | str_W, |
126 | str_W, |
127 | str_NW, |
127 | str_NW, |
128 | str_N}; |
128 | str_N |
- | 129 | }; |
|
129 | 130 | ||
130 | /* ########################################################################## |
131 | /* ########################################################################## |
131 | * Different display mode function pointers |
132 | * Different display mode function pointers |
132 | * ##########################################################################*/ |
133 | * ##########################################################################*/ |
133 | const char str_1[] PROGMEM = "default"; |
134 | const char str_1[] PROGMEM = "default"; |
134 | const char str_2[] PROGMEM = "minimal"; |
135 | const char str_2[] PROGMEM = "minimal"; |
135 | const char str_3[] PROGMEM = " jopl"; |
136 | const char str_3[] PROGMEM = " jopl"; |
136 | 137 | ||
137 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
138 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
138 | { osd_ncmode_default, (char *)str_1 }, |
139 | { osd_ncmode_default, (char *)str_1}, |
139 | { osd_ncmode_minimal, (char *)str_2 } |
140 | { osd_ncmode_minimal, (char *)str_2} |
140 | }; |
141 | }; |
141 | 142 | ||
142 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
143 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
143 | { osd_fcmode_default, (char *)str_1 }, |
144 | { osd_fcmode_default, (char *)str_1}, |
144 | { osd_fcmode_jopl, (char *)str_3 } |
145 | { osd_fcmode_jopl, (char *)str_3} |
145 | }; |
146 | }; |
146 | 147 | ||
147 | int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default; |
148 | int (*osd_ncmode)(void) = (int(*)(void)) & osd_ncmode_default; |
148 | int (*osd_fcmode)(void) = (int(*)(void)) &osd_fcmode_default; |
149 | int (*osd_fcmode)(void) = (int(*)(void)) & osd_fcmode_default; |
149 | #endif |
150 | #endif |
150 | 151 | ||
151 | /* ########################################################################## |
152 | /* ########################################################################## |
152 | * Interrupt handler |
153 | * Interrupt handler |
153 | * ##########################################################################*/ |
154 | * ##########################################################################*/ |
154 | 155 | ||
155 | /** |
156 | /** |
156 | * handler for undefined Interrupts |
157 | * handler for undefined Interrupts |
157 | * if not defined AVR will reset in case any unhandled interrupts occur |
158 | * if not defined AVR will reset in case any unhandled interrupts occur |
158 | */ |
159 | */ |
159 | ISR(__vector_default) { |
160 | ISR(__vector_default) { |
160 | asm("nop"); |
161 | asm("nop"); |
161 | } |
162 | } |
162 | 163 | ||
163 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
164 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
164 | /* ########################################################################## |
165 | /* ########################################################################## |
165 | * timer stuff |
166 | * timer stuff |
166 | * ##########################################################################*/ |
167 | * ##########################################################################*/ |
167 | 168 | ||
168 | static uint8_t delay_spi = 0; |
169 | static uint8_t delay_spi = 0; |
169 | 170 | ||
170 | /** |
171 | /** |
171 | * timer kicks in every 1000uS ^= 1ms |
172 | * timer kicks in every 1000uS ^= 1ms |
172 | */ |
173 | */ |
173 | ISR(TIMER0_COMP_vect) { |
174 | ISR(TIMER0_COMP_vect) { |
174 | if (!timer--) { |
175 | if (!timer--) { |
175 | uptime++; |
176 | uptime++; |
176 | 177 | ||
177 | #if FCONLY |
178 | #if FCONLY |
178 | if (debugData.Analog[12]>10) { |
179 | if (debugData.Analog[12] > 10) { |
179 | flytime_fc++; |
180 | flytime_fc++; |
180 | } |
181 | } |
181 | #endif |
182 | #endif |
182 | 183 | ||
183 | timer = 999; |
184 | timer = 999; |
184 | seconds_since_last_data++; |
185 | seconds_since_last_data++; |
185 | } |
186 | } |
186 | // in case there is still some spi data to send do it now |
187 | // in case there is still some spi data to send do it now |
187 | // delay to give the slave some time to compute values |
188 | // delay to give the slave some time to compute values |
188 | if (spi_ready && icnt) { |
189 | if (spi_ready && icnt) { |
189 | if (!delay_spi--) { |
190 | if (!delay_spi--) { |
190 | delay_spi = 8; |
191 | delay_spi = 8; |
191 | spi_send_next(); |
192 | spi_send_next(); |
192 | } |
193 | } |
193 | } |
194 | } |
194 | } |
195 | } |
195 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
196 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
196 | 197 | ||
197 | /* ########################################################################## |
198 | /* ########################################################################## |
198 | * MAIN |
199 | * MAIN |
199 | * ##########################################################################*/ |
200 | * ##########################################################################*/ |
200 | int main(void) { |
201 | int main(void) { |
201 | // set up FLAGS |
202 | // set up FLAGS |
202 | COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
203 | COSD_FLAGS_MODES = 0, COSD_FLAGS_CONFIG = 0, COSD_FLAGS_RUNTIME = 0; |
203 | #if NTSC |
204 | #if NTSC |
204 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
205 | COSD_FLAGS_CONFIG |= COSD_FLAG_NTSC; |
205 | #endif |
206 | #endif |
206 | #if HUD |
207 | #if HUD |
207 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
208 | COSD_FLAGS_MODES |= COSD_FLAG_HUD; |
208 | #endif |
209 | #endif |
209 | #if ARTHORIZON |
210 | #if ARTHORIZON |
210 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
211 | COSD_FLAGS_MODES |= COSD_FLAG_ARTHORIZON; |
211 | #endif |
212 | #endif |
212 | #if BIGVARIO |
213 | #if BIGVARIO |
213 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
214 | COSD_FLAGS_MODES |= COSD_FLAG_BIGARIO; |
214 | #endif |
215 | #endif |
215 | #if STATS |
216 | #if STATS |
216 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
217 | COSD_FLAGS_MODES |= COSD_FLAG_STATS; |
217 | #endif |
218 | #endif |
218 | #if WARNINGS |
219 | #if WARNINGS |
219 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
220 | COSD_FLAGS_MODES |= COSD_FLAG_WARNINGS; |
220 | #endif |
221 | #endif |
221 | #if FCONLY |
222 | #if FCONLY |
222 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
223 | COSD_FLAGS_CONFIG |= COSD_FLAG_FCMODE; |
223 | #endif |
224 | #endif |
224 | 225 | ||
225 | 226 | ||
226 | // set up Atmega162 Ports |
227 | // set up Atmega162 Ports |
227 | DDRA |= (1 << PA1); // PA1 output (/CS) |
228 | DDRA |= (1 << PA1); // PA1 output (/CS) |
228 | MAX_CS_HIGH |
229 | MAX_CS_HIGH |
229 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
230 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
230 | MAX_SDIN_LOW |
231 | MAX_SDIN_LOW |
231 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
232 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
232 | MAX_SCLK_LOW |
233 | MAX_SCLK_LOW |
233 | DDRA |= (1 << PA5); // PA5 output (RESET) |
234 | DDRA |= (1 << PA5); // PA5 output (RESET) |
234 | MAX_RESET_HIGH |
235 | MAX_RESET_HIGH |
235 | 236 | ||
236 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
237 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
237 | LED1_OFF |
238 | LED1_OFF |
238 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
239 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
239 | LED2_OFF |
240 | LED2_OFF |
240 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
241 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
241 | LED3_OFF |
242 | LED3_OFF |
242 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
243 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
243 | LED4_OFF |
244 | LED4_OFF |
244 | 245 | ||
245 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
246 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
246 | PORTC |= (1 << PC4); // pullup |
247 | PORTC |= (1 << PC4); // pullup |
247 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
248 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
248 | PORTC |= (1 << PC5); // pullup |
249 | PORTC |= (1 << PC5); // pullup |
249 | 250 | ||
250 | // reset the MAX7456 to be sure any undefined states do no harm |
251 | // reset the MAX7456 to be sure any undefined states do no harm |
251 | MAX_RESET_LOW |
252 | MAX_RESET_LOW |
252 | MAX_RESET_HIGH |
253 | MAX_RESET_HIGH |
253 | 254 | ||
254 | // give the FC/NC and the maxim time to come up |
255 | // give the FC/NC and the maxim time to come up |
255 | LED4_ON |
256 | LED4_ON |
256 | _delay_ms(1000); |
257 | _delay_ms(1000); |
257 | LED4_OFF |
258 | LED4_OFF |
258 | 259 | ||
259 | //Pushing NEW chars to the MAX7456 |
260 | //Pushing NEW chars to the MAX7456 |
260 | #if (WRITECHARS != -1) |
261 | #if (WRITECHARS != -1) |
261 | // DISABLE display (VM0) |
262 | // DISABLE display (VM0) |
262 | spi_send_byte(0x00, 0b00000000); |
263 | spi_send_byte(0x00, 0b00000000); |
263 | learn_all_chars_pgm(); |
264 | learn_all_chars_pgm(); |
264 | #else |
265 | #else |
265 | // read out config for NTSC/PAL distinguishing |
266 | // read out config for NTSC/PAL distinguishing |
266 | get_eeprom(0); |
267 | get_eeprom(0); |
267 | #endif |
268 | #endif |
268 | 269 | ||
269 | // Setup Video Mode |
270 | // Setup Video Mode |
270 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
271 | if (COSD_FLAGS_CONFIG & COSD_FLAG_NTSC) { |
271 | // NTSC + enable display immediately (VM0) |
272 | // NTSC + enable display immediately (VM0) |
272 | spi_send_byte(0x00, 0b00001000); |
273 | spi_send_byte(0x00, 0b00001000); |
273 | 274 | ||
274 | bottom_line = 12; |
275 | bottom_line = 12; |
275 | } else { |
276 | } else { |
276 | // PAL + enable display immediately (VM0) |
277 | // PAL + enable display immediately (VM0) |
277 | spi_send_byte(0x00, 0b01001000); |
278 | spi_send_byte(0x00, 0b01001000); |
278 | 279 | ||
279 | bottom_line = 14; |
280 | bottom_line = 14; |
280 | } |
281 | } |
281 | 282 | ||
282 | /*// clear all display-mem (DMM) |
283 | /*// clear all display-mem (DMM) |
283 | spi_send_byte(0x04, 0b00000100); |
284 | spi_send_byte(0x04, 0b00000100); |
284 | 285 | ||
285 | // clearing takes 12uS according to maxim so lets wait longer |
286 | // clearing takes 12uS according to maxim so lets wait longer |
286 | _delay_us(120); |
287 | _delay_us(120); |
287 | 288 | ||
288 | // 8bit mode |
289 | // 8bit mode |
289 | spi_send_byte(0x04, 0b01000000);*/ |
290 | spi_send_byte(0x04, 0b01000000);*/ |
290 | 291 | ||
291 | // clear display memory and set to 8bit mode |
292 | // clear display memory and set to 8bit mode |
292 | clear(); |
293 | clear(); |
293 | 294 | ||
294 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
295 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
295 | // init usart |
296 | // init usart |
296 | usart1_init(); |
297 | usart1_init(); |
297 | 298 | ||
298 | // keep serial port clean |
299 | // keep serial port clean |
299 | usart1_DisableTXD(); |
300 | usart1_DisableTXD(); |
300 | 301 | ||
301 | // set up timer |
302 | // set up timer |
302 | // CTC, Prescaler /64 |
303 | // CTC, Prescaler /64 |
303 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
304 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
304 | 305 | ||
305 | TCNT0 = 0; |
306 | TCNT0 = 0; |
306 | OCR0 = 250; |
307 | OCR0 = 250; |
307 | 308 | ||
308 | // enable timer output compare interrupt |
309 | // enable timer output compare interrupt |
309 | TIMSK &= ~(1 << TOIE0); |
310 | TIMSK &= ~(1 << TOIE0); |
310 | TIMSK |= (1 << OCIE0); |
311 | TIMSK |= (1 << OCIE0); |
311 | 312 | ||
312 | // SPI setup |
313 | // SPI setup |
313 | DDRD |= (1 << PD2); // PD2 output (INT0) |
314 | DDRD |= (1 << PD2); // PD2 output (INT0) |
314 | SpiMasterInit(); |
315 | SpiMasterInit(); |
315 | 316 | ||
316 | // PPM detection setup |
317 | // PPM detection setup |
317 | ppm_init(); |
318 | ppm_init(); |
318 | 319 | ||
319 | // enable interrupts |
320 | // enable interrupts |
320 | sei(); |
321 | sei(); |
321 | #endif |
322 | #endif |
322 | 323 | ||
323 | //write_ascii_string(2, 7, " CaScAdE "); |
324 | //write_ascii_string(2, 7, " CaScAdE "); |
324 | //write_ascii_string(2, 8, "is TESTING his open source"); |
325 | //write_ascii_string(2, 8, "is TESTING his open source"); |
325 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
326 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
326 | 327 | ||
327 | // we are ready |
328 | // we are ready |
328 | LED3_ON |
329 | LED3_ON |
329 | 330 | ||
330 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
331 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
331 | clear(); |
332 | clear(); |
332 | write_all_chars(); |
333 | write_all_chars(); |
333 | LED1_ON |
334 | LED1_ON |
334 | LED2_ON |
335 | LED2_ON |
335 | LED3_ON |
336 | LED3_ON |
336 | LED4_ON |
337 | LED4_ON |
337 | #else |
338 | #else |
338 | 339 | ||
339 | // clear serial screen |
340 | // clear serial screen |
340 | //usart1_puts("\x1B[2J\x1B[H"); |
341 | //usart1_puts("\x1B[2J\x1B[H"); |
341 | //usart1_puts("hello world!123\r\n"); |
342 | //usart1_puts("hello world!123\r\n"); |
342 | 343 | ||
343 | while (1) { |
344 | while (1) { |
344 | // 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 |
345 | if (!icnt && spi_ready) { |
346 | if (!icnt && spi_ready) { |
346 | // correct transfer ends with d (done) |
347 | // correct transfer ends with d (done) |
347 | if (SPI_buffer.buffer.chk == 'd') { |
348 | if (SPI_buffer.buffer.chk == 'd') { |
348 | ampere = SPI_buffer.data.ampere; |
349 | ampere = SPI_buffer.data.ampere; |
349 | ampere_wasted = SPI_buffer.data.mah; |
350 | ampere_wasted = SPI_buffer.data.mah; |
350 | s_volt = SPI_buffer.data.volt; |
351 | s_volt = SPI_buffer.data.volt; |
351 | 352 | ||
352 | // 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 |
353 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
354 | if (!(COSD_FLAGS_RUNTIME & COSD_FLAG_STROMREC)) { |
354 | clear(); |
355 | clear(); |
355 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
356 | COSD_FLAGS_RUNTIME &= ~COSD_ICONS_WRITTEN; |
356 | // update this flag |
357 | // update this flag |
357 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
358 | COSD_FLAGS_RUNTIME |= COSD_FLAG_STROMREC; |
358 | } |
359 | } |
359 | } else { |
360 | } else { |
360 | // update flags |
361 | // update flags |
361 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
362 | COSD_FLAGS_RUNTIME &= ~COSD_FLAG_STROMREC; |
362 | } |
363 | } |
363 | StartTransfer(9); |
364 | StartTransfer(9); |
364 | } |
365 | } |
365 | if (rxd_buffer_locked) { |
366 | if (rxd_buffer_locked) { |
366 | #if FCONLY |
367 | #if FCONLY |
367 | if (rxd_buffer[2] == 'D') { // FC Data |
368 | if (rxd_buffer[2] == 'D') { // FC Data |
368 | Decode64(); |
369 | Decode64(); |
369 | debugData = *((DebugOut_t*) pRxData); |
370 | debugData = *((DebugOut_t*)pRxData); |
370 | 371 | ||
371 | // init on first data retrival, distinguished by last battery :) |
372 | // init on first data retrival, distinguished by last battery :) |
372 | if (last_UBat == 255) { |
373 | if (last_UBat == 255) { |
373 | if (debugData.Analog[9] > 40) { |
374 | if (debugData.Analog[9] > 40) { |
374 | // fix for min_UBat |
375 | // fix for min_UBat |
375 | min_UBat = debugData.Analog[9]; |
376 | min_UBat = debugData.Analog[9]; |
376 | last_UBat = debugData.Analog[9]; |
377 | last_UBat = debugData.Analog[9]; |
377 | init_cosd(last_UBat); |
378 | init_cosd(last_UBat); |
378 | } |
379 | } |
379 | } else { |
380 | } else { |
380 | osd_fcmode(); |
381 | osd_fcmode(); |
381 | } |
382 | } |
382 | seconds_since_last_data = 0; |
383 | seconds_since_last_data = 0; |
383 | } |
384 | } |
384 | #else |
385 | #else |
385 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
386 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
386 | Decode64(); |
387 | Decode64(); |
387 | naviData = *((NaviData_t*) pRxData); |
388 | naviData = *((NaviData_t*)pRxData); |
388 | 389 | ||
389 | // init on first data retrival, distinguished by last battery :) |
390 | // init on first data retrival, distinguished by last battery :) |
390 | if (last_UBat == 255) { |
391 | if (last_UBat == 255) { |
391 | if (naviData.UBat > 40) { |
392 | if (naviData.UBat > 40) { |
392 | // fix for min_UBat |
393 | // fix for min_UBat |
393 | min_UBat = naviData.UBat; |
394 | min_UBat = naviData.UBat; |
394 | last_UBat = naviData.UBat; |
395 | last_UBat = naviData.UBat; |
395 | init_cosd(last_UBat); |
396 | init_cosd(last_UBat); |
396 | } |
397 | } |
397 | } else { |
398 | } else { |
398 | osd_ncmode(); |
399 | osd_ncmode(); |
399 | } |
400 | } |
400 | //seconds_since_last_data = 0; |
401 | //seconds_since_last_data = 0; |
401 | } |
402 | } |
402 | #endif |
403 | #endif |
403 | rxd_buffer_locked = 0; |
404 | rxd_buffer_locked = 0; |
404 | } |
405 | } |
405 | // handle keypress |
406 | // handle keypress |
406 | if (s1_pressed()) { |
407 | if (s1_pressed()) { |
407 | config_menu(); |
408 | config_menu(); |
408 | } |
409 | } |
409 | if (seconds_since_last_data > 0) { |
410 | if (seconds_since_last_data > 0) { |
410 | usart1_EnableTXD(); |
411 | usart1_EnableTXD(); |
411 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
412 | //usart1_puts_pgm(PSTR("zu alt\r\n")); |
412 | #if FCONLY |
413 | #if FCONLY |
413 | // request data ever 100ms from FC; |
414 | // request data ever 100ms from FC; |
414 | //usart1_request_mk_data(0, 'd', 100); |
415 | //usart1_request_mk_data(0, 'd', 100); |
415 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
416 | usart1_puts_pgm(PSTR(REQUEST_DBG_DATA)); |
416 | #else |
417 | #else |
417 | // request OSD Data from NC every 100ms |
418 | // request OSD Data from NC every 100ms |
418 | //usart1_request_mk_data(1, 'o', 100); |
419 | //usart1_request_mk_data(1, 'o', 100); |
419 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
420 | usart1_puts_pgm(PSTR(REQUEST_OSD_DATA)); |
420 | 421 | ||
421 | // and disable debug... |
422 | // and disable debug... |
422 | //usart1_request_mk_data(0, 'd', 0); |
423 | //usart1_request_mk_data(0, 'd', 0); |
423 | #endif |
424 | #endif |
424 | // reset last time counter |
425 | // reset last time counter |
425 | seconds_since_last_data = 0; |
426 | seconds_since_last_data = 0; |
426 | usart1_DisableTXD(); |
427 | usart1_DisableTXD(); |
427 | } |
428 | } |
428 | } |
429 | } |
429 | #endif |
430 | #endif |
430 | return 0; |
431 | return 0; |
431 | } |
432 | } |
432 | 433 |