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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 | 31 | ||
32 | /* TODO: |
32 | /* TODO: |
33 | * - verifiy correctness of values |
33 | * - verifiy correctness of values |
34 | * - clean up code :) |
34 | * - clean up code :) |
35 | */ |
35 | */ |
36 | 36 | ||
37 | /* ########################################################################## |
37 | /* ########################################################################## |
38 | * Debugging and general purpose definitions |
38 | * Debugging and general purpose definitions |
39 | * ##########################################################################*/ |
39 | * ##########################################################################*/ |
40 | #define ALLCHARSDEBUG 0 // set to 1 and flash firmware to see all chars |
40 | #define ALLCHARSDEBUG 0 // set to 1 and flash firmware to see all chars |
41 | #define WRITECHARS 0 // set to 2XX and flash firmware to write new char |
41 | #define WRITECHARS 0 // set to 2XX and flash firmware to write new char |
42 | // enables the allchars as well to see results |
42 | // enables the allchars as well to see results |
43 | #define NTSC 0 // set to 1 for NTSC mode + lifts the bottom line |
43 | #define NTSC 0 // set to 1 for NTSC mode + lifts the bottom line |
44 | #define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon |
44 | #define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon |
45 | #define NOOSD 0 // set to 1 to disable OSD completely |
45 | #define NOOSD 0 // set to 1 to disable OSD completely |
46 | #define NOOSD_BUT_WRN 0 // set to 1 to disable OSD completely but show |
46 | #define NOOSD_BUT_WRN 0 // set to 1 to disable OSD completely but show |
47 | // battery and receive signal warnings |
47 | // battery and receive signal warnings |
48 | #define UBAT_WRN 94 // voltage for blinking warning, like FC settings |
48 | #define UBAT_WRN 94 // voltage for blinking warning, like FC settings |
49 | #define RCLVL_WRN 100 // make the RC level blink if below this number |
49 | #define RCLVL_WRN 100 // make the RC level blink if below this number |
50 | 50 | ||
51 | // ### read datasheet before changing stuff below this line :) |
51 | // ### read datasheet before changing stuff below this line :) |
52 | #define BLINK 0b01001111 // attribute byte for blinking chars |
52 | #define BLINK 0b01001111 // attribute byte for blinking chars |
53 | 53 | ||
54 | /* ########################################################################## |
54 | /* ########################################################################## |
55 | * FLAGS usable during runtime |
55 | * FLAGS usable during runtime |
56 | * ##########################################################################*/ |
56 | * ##########################################################################*/ |
57 | #define COSD_FLAG_NTSC 1 |
57 | #define COSD_FLAG_NTSC 1 |
58 | #define COSD_FLAG_ARTHORIZON 2 |
58 | #define COSD_FLAG_ARTHORIZON 2 |
59 | #define COSD_FLAG_NOOSD 4 |
59 | #define COSD_FLAG_NOOSD 4 |
60 | #define COSD_FLAG_NOOSD_BUT_WRN 8 |
60 | #define COSD_FLAG_NOOSD_BUT_WRN 8 |
61 | #define COSD_ICONS_WRITTEN 16 |
61 | #define COSD_ICONS_WRITTEN 16 |
62 | 62 | ||
63 | /* ########################################################################## |
63 | /* ########################################################################## |
64 | * Software SPI to communicate with MAX7456 |
64 | * Software SPI to communicate with MAX7456 |
65 | * ##########################################################################*/ |
65 | * ##########################################################################*/ |
66 | #define MAX_CS_HIGH PORTA |= (1 << PA1); |
66 | #define MAX_CS_HIGH PORTA |= (1 << PA1); |
67 | #define MAX_CS_LOW PORTA &= ~(1 << PA1); |
67 | #define MAX_CS_LOW PORTA &= ~(1 << PA1); |
68 | #define MAX_SDIN_HIGH PORTA |= (1 << PA2); |
68 | #define MAX_SDIN_HIGH PORTA |= (1 << PA2); |
69 | #define MAX_SDIN_LOW PORTA &= ~(1 << PA2); |
69 | #define MAX_SDIN_LOW PORTA &= ~(1 << PA2); |
70 | #define MAX_SCLK_HIGH PORTA |= (1 << PA3); |
70 | #define MAX_SCLK_HIGH PORTA |= (1 << PA3); |
71 | #define MAX_SCLK_LOW PORTA &= ~(1 << PA3); |
71 | #define MAX_SCLK_LOW PORTA &= ~(1 << PA3); |
72 | #define MAX_RESET_HIGH PORTA |= (1 << PA5); |
72 | #define MAX_RESET_HIGH PORTA |= (1 << PA5); |
73 | #define MAX_RESET_LOW PORTA &= ~(1 << PA5); |
73 | #define MAX_RESET_LOW PORTA &= ~(1 << PA5); |
74 | 74 | ||
75 | /* ########################################################################## |
75 | /* ########################################################################## |
76 | * LED controll |
76 | * LED controll |
77 | * ##########################################################################*/ |
77 | * ##########################################################################*/ |
78 | #define LED1_ON PORTC |= (1 << PC0); |
78 | #define LED1_ON PORTC |= (1 << PC0); |
79 | #define LED1_OFF PORTC &= ~(1 << PC0); |
79 | #define LED1_OFF PORTC &= ~(1 << PC0); |
80 | #define LED2_ON PORTC |= (1 << PC1); |
80 | #define LED2_ON PORTC |= (1 << PC1); |
81 | #define LED2_OFF PORTC &= ~(1 << PC1); |
81 | #define LED2_OFF PORTC &= ~(1 << PC1); |
82 | #define LED3_ON PORTC |= (1 << PC2); |
82 | #define LED3_ON PORTC |= (1 << PC2); |
83 | #define LED3_OFF PORTC &= ~(1 << PC2); |
83 | #define LED3_OFF PORTC &= ~(1 << PC2); |
84 | #define LED4_ON PORTC |= (1 << PC3); |
84 | #define LED4_ON PORTC |= (1 << PC3); |
85 | #define LED4_OFF PORTC &= ~(1 << PC3); |
85 | #define LED4_OFF PORTC &= ~(1 << PC3); |
86 | 86 | ||
87 | /* ########################################################################## |
87 | /* ########################################################################## |
88 | * switch controll |
88 | * switch controll |
89 | * ##########################################################################*/ |
89 | * ##########################################################################*/ |
90 | #define S1_PRESSED !(PINC & (1<<PC5)) |
90 | #define S1_PRESSED !(PINC & (1<<PC5)) |
91 | #define S2_PRESSED !(PINC & (1<<PC4)) |
91 | #define S2_PRESSED !(PINC & (1<<PC4)) |
92 | 92 | ||
93 | /* ########################################################################## |
93 | /* ########################################################################## |
94 | * gain some fake arm compat :) |
94 | * gain some fake arm compat :) |
95 | * ##########################################################################*/ |
95 | * ##########################################################################*/ |
96 | #define u8 uint8_t |
96 | #define u8 uint8_t |
97 | #define s8 int8_t |
97 | #define s8 int8_t |
98 | #define u16 uint16_t |
98 | #define u16 uint16_t |
99 | #define s16 int16_t |
99 | #define s16 int16_t |
100 | #define u32 uint32_t |
100 | #define u32 uint32_t |
101 | #define s32 int32_t |
101 | #define s32 int32_t |
102 | 102 | ||
103 | #if !(ALLCHARSDEBUG|WRITECHARS) |
103 | #if !(ALLCHARSDEBUG|WRITECHARS) |
104 | /* ########################################################################## |
104 | /* ########################################################################## |
105 | * MK data strucs & flags |
105 | * MK data strucs & flags |
106 | * ##########################################################################*/ |
106 | * ##########################################################################*/ |
107 | #define NC_FLAG_FREE 1 |
107 | #define NC_FLAG_FREE 1 |
108 | #define NC_FLAG_PH 2 |
108 | #define NC_FLAG_PH 2 |
109 | #define NC_FLAG_CH 4 |
109 | #define NC_FLAG_CH 4 |
110 | #define NC_FLAG_RANGE_LIMIT 8 |
110 | #define NC_FLAG_RANGE_LIMIT 8 |
111 | #define NC_SERIAL_LINK_OK 16 |
111 | #define NC_SERIAL_LINK_OK 16 |
112 | #define NC_FLAG_TARGET_REACHED 32 |
112 | #define NC_FLAG_TARGET_REACHED 32 |
113 | 113 | ||
114 | #define FLAG_MOTOR_RUN 1 |
114 | #define FLAG_MOTOR_RUN 1 |
115 | #define FLAG_FLY 2 |
115 | #define FLAG_FLY 2 |
116 | #define FLAG_CALIBRATE 4 |
116 | #define FLAG_CALIBRATE 4 |
117 | #define FLAG_START 8 |
117 | #define FLAG_START 8 |
118 | 118 | ||
119 | /* |
119 | /* |
120 | * FC Debug Struct |
120 | * FC Debug Struct |
121 | * portions taken and adapted from |
121 | * portions taken and adapted from |
122 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
122 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.h |
123 | */ |
123 | */ |
124 | typedef struct { |
124 | typedef struct { |
125 | uint8_t Digital[2]; |
125 | uint8_t Digital[2]; |
126 | uint16_t Analog[32]; // Debugvalues |
126 | uint16_t Analog[32]; // Debugvalues |
127 | } __attribute__((packed)) DebugOut_t; |
127 | } __attribute__((packed)) DebugOut_t; |
128 | 128 | ||
129 | /* |
129 | /* |
130 | * NaviCtrl OSD Structs |
130 | * NaviCtrl OSD Structs |
131 | * portions taken and adapted from |
131 | * portions taken and adapted from |
132 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.14e%2Fuart1.h |
132 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=%2Ftags%2FV0.14e%2Fuart1.h |
133 | */ |
133 | */ |
134 | typedef struct { |
134 | typedef struct { |
135 | s32 Longitude; // in 1E-7 deg |
135 | s32 Longitude; // in 1E-7 deg |
136 | s32 Latitude; // in 1E-7 deg |
136 | s32 Latitude; // in 1E-7 deg |
137 | s32 Altitude; // in mm |
137 | s32 Altitude; // in mm |
138 | u8 Status; // validity of data |
138 | u8 Status; // validity of data |
139 | } __attribute__((packed)) GPS_Pos_t; |
139 | } __attribute__((packed)) GPS_Pos_t; |
140 | 140 | ||
141 | typedef struct { |
141 | typedef struct { |
142 | s16 Distance; // distance to target in cm |
142 | s16 Distance; // distance to target in cm |
143 | s16 Bearing; // course to target in deg |
143 | s16 Bearing; // course to target in deg |
144 | } __attribute__((packed)) GPS_PosDev_t; |
144 | } __attribute__((packed)) GPS_PosDev_t; |
145 | 145 | ||
146 | typedef struct { |
146 | typedef struct { |
147 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
147 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
148 | GPS_Pos_t TargetPosition; |
148 | GPS_Pos_t TargetPosition; |
149 | GPS_PosDev_t TargetPositionDeviation; |
149 | GPS_PosDev_t TargetPositionDeviation; |
150 | GPS_Pos_t HomePosition; |
150 | GPS_Pos_t HomePosition; |
151 | GPS_PosDev_t HomePositionDeviation; |
151 | GPS_PosDev_t HomePositionDeviation; |
152 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
152 | u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
153 | u8 WaypointNumber; // number of stored waypoints |
153 | u8 WaypointNumber; // number of stored waypoints |
154 | u8 SatsInUse; // no of satellites used for position solution |
154 | u8 SatsInUse; // no of satellites used for position solution |
155 | s16 Altimeter; // hight according to air pressure |
155 | s16 Altimeter; // hight according to air pressure |
156 | s16 Variometer; // climb(+) and sink(-) rate |
156 | s16 Variometer; // climb(+) and sink(-) rate |
157 | u16 FlyingTime; // in seconds |
157 | u16 FlyingTime; // in seconds |
158 | u8 UBat; // Battery Voltage in 0.1 Volts |
158 | u8 UBat; // Battery Voltage in 0.1 Volts |
159 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
159 | u16 GroundSpeed; // speed over ground in cm/s (2D) |
160 | s16 Heading; // current flight direction in deg as angle to north |
160 | s16 Heading; // current flight direction in deg as angle to north |
161 | s16 CompassHeading; // current compass value |
161 | s16 CompassHeading; // current compass value |
162 | s8 AngleNick; // current Nick angle in 1° |
162 | s8 AngleNick; // current Nick angle in 1° |
163 | s8 AngleRoll; // current Rick angle in 1° |
163 | s8 AngleRoll; // current Rick angle in 1° |
164 | u8 RC_Quality; // RC_Quality |
164 | u8 RC_Quality; // RC_Quality |
165 | u8 MKFlags; // Flags from FC |
165 | u8 MKFlags; // Flags from FC |
166 | u8 NCFlags; // Flags from NC |
166 | u8 NCFlags; // Flags from NC |
167 | u8 Errorcode; // 0 --> okay |
167 | u8 Errorcode; // 0 --> okay |
168 | u8 OperatingRadius; // current operation radius around the Home Position in m |
168 | u8 OperatingRadius; // current operation radius around the Home Position in m |
169 | u8 Reserve[7]; // for future use |
169 | u8 Reserve[7]; // for future use |
170 | } __attribute__((packed)) NaviData_t; |
170 | } __attribute__((packed)) NaviData_t; |
171 | 171 | ||
172 | 172 | ||
173 | /* ########################################################################## |
173 | /* ########################################################################## |
174 | * global definitions and global vars |
174 | * global definitions and global vars |
175 | * ##########################################################################*/ |
175 | * ##########################################################################*/ |
176 | #define baud 57600 |
176 | #define baud 57600 |
177 | 177 | ||
178 | #define RXD_BUFFER_LEN 150 |
178 | #define RXD_BUFFER_LEN 150 |
179 | #define TXD_BUFFER_LEN 150 |
179 | #define TXD_BUFFER_LEN 150 |
180 | 180 | ||
181 | volatile uint8_t rxd_buffer_locked = 0; |
181 | volatile uint8_t rxd_buffer_locked = 0; |
182 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
182 | volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
183 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
183 | volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
184 | volatile uint8_t ReceivedBytes = 0; |
184 | volatile uint8_t ReceivedBytes = 0; |
185 | volatile uint8_t *pRxData = 0; |
185 | volatile uint8_t *pRxData = 0; |
186 | volatile uint8_t RxDataLen = 0; |
186 | volatile uint8_t RxDataLen = 0; |
187 | volatile uint16_t setsReceived = 0; |
187 | volatile uint16_t setsReceived = 0; |
188 | 188 | ||
189 | volatile NaviData_t naviData; |
189 | volatile NaviData_t naviData; |
190 | volatile DebugOut_t debugData; |
190 | volatile DebugOut_t debugData; |
191 | 191 | ||
192 | // cache old vars for blinking attribute, checkup is faster than full |
192 | // cache old vars for blinking attribute, checkup is faster than full |
193 | // attribute write each time |
193 | // attribute write each time |
194 | volatile uint8_t last_UBat = 255; |
194 | volatile uint8_t last_UBat = 255; |
195 | volatile uint8_t last_RC_Quality = 255; |
195 | volatile uint8_t last_RC_Quality = 255; |
196 | 196 | ||
197 | // 16bit should be enough, normal LiPos don't last that long |
197 | // 16bit should be enough, normal LiPos don't last that long |
198 | volatile uint16_t uptime = 0; |
198 | volatile uint16_t uptime = 0; |
199 | volatile uint16_t timer = 0; |
199 | volatile uint16_t timer = 0; |
200 | 200 | ||
201 | #endif // ends !(ALLCHARSDEBUG|WRITECHARS) |
201 | #endif // ends !(ALLCHARSDEBUG|WRITECHARS) |
202 | 202 | ||
203 | // general PAL|NTSC distingiusch stuff |
203 | // general PAL|NTSC distingiusch stuff |
204 | uint8_t top_line = 1; |
204 | uint8_t top_line = 1; |
205 | uint8_t bottom_line = 14; |
205 | uint8_t bottom_line = 14; |
206 | 206 | ||
207 | // Flags |
207 | // Flags |
208 | uint8_t COSD_FLAGS = 0; |
208 | uint8_t COSD_FLAGS = 0; |
209 | 209 | ||
210 | /* ########################################################################## |
210 | /* ########################################################################## |
211 | * debounce buttons |
211 | * debounce buttons |
212 | * ##########################################################################*/ |
212 | * ##########################################################################*/ |
213 | int s1_pressed() { |
213 | int s1_pressed() { |
214 | if (S1_PRESSED) { |
214 | if (S1_PRESSED) { |
215 | _delay_ms(25); |
215 | _delay_ms(25); |
216 | if (S1_PRESSED) return 1; |
216 | if (S1_PRESSED) return 1; |
217 | } |
217 | } |
218 | return 0; |
218 | return 0; |
219 | } |
219 | } |
220 | 220 | ||
221 | int s2_pressed() { |
221 | int s2_pressed() { |
222 | if (S2_PRESSED) { |
222 | if (S2_PRESSED) { |
223 | _delay_ms(25); |
223 | _delay_ms(25); |
224 | if (S2_PRESSED) return 1; |
224 | if (S2_PRESSED) return 1; |
225 | } |
225 | } |
226 | return 0; |
226 | return 0; |
227 | } |
227 | } |
228 | 228 | ||
229 | /* ########################################################################## |
229 | /* ########################################################################## |
230 | * MAX7456 SPI & Display stuff |
230 | * MAX7456 SPI & Display stuff |
231 | * ##########################################################################*/ |
231 | * ##########################################################################*/ |
232 | 232 | ||
233 | /** |
233 | /** |
234 | * Send a byte through SPI |
234 | * Send a byte through SPI |
235 | */ |
235 | */ |
236 | void spi_send(uint8_t byte) { |
236 | void spi_send(uint8_t byte) { |
237 | for (int8_t i = 7; i >= 0; i--) { |
237 | for (int8_t i = 7; i >= 0; i--) { |
238 | if (((byte >> i) & 1)) { |
238 | if (((byte >> i) & 1)) { |
239 | MAX_SDIN_HIGH |
239 | MAX_SDIN_HIGH |
240 | } else { |
240 | } else { |
241 | MAX_SDIN_LOW |
241 | MAX_SDIN_LOW |
242 | } |
242 | } |
243 | MAX_SCLK_HIGH |
243 | MAX_SCLK_HIGH |
244 | MAX_SCLK_LOW |
244 | MAX_SCLK_LOW |
245 | } |
245 | } |
246 | } |
246 | } |
247 | 247 | ||
248 | /** |
248 | /** |
249 | * Send <byte> to <address> of MAX7456 |
249 | * Send <byte> to <address> of MAX7456 |
250 | */ |
250 | */ |
251 | void spi_send_byte(uint8_t address, uint8_t byte) { |
251 | void spi_send_byte(uint8_t address, uint8_t byte) { |
252 | // start sending |
252 | // start sending |
253 | MAX_CS_LOW |
253 | MAX_CS_LOW |
254 | 254 | ||
255 | spi_send(address); |
255 | spi_send(address); |
256 | spi_send(byte); |
256 | spi_send(byte); |
257 | 257 | ||
258 | // end sending |
258 | // end sending |
259 | MAX_CS_HIGH |
259 | MAX_CS_HIGH |
260 | } |
260 | } |
261 | 261 | ||
262 | /** |
262 | /** |
263 | * write a <character> to <address> of MAX7456 display memory |
263 | * write a <character> to <address> of MAX7456 display memory |
264 | */ |
264 | */ |
265 | void write_char(uint16_t address, char character) { |
265 | void write_char(uint16_t address, char character) { |
266 | spi_send_byte(0x05, (address & 0xFF00) >> 8); // DMAH |
266 | spi_send_byte(0x05, (address & 0xFF00) >> 8); // DMAH |
267 | spi_send_byte(0x06, (address & 0x00FF)); // DMAL |
267 | spi_send_byte(0x06, (address & 0x00FF)); // DMAL |
268 | spi_send_byte(0x07, character); // DMDI |
268 | spi_send_byte(0x07, character); // DMDI |
269 | } |
269 | } |
270 | 270 | ||
271 | /** |
271 | /** |
272 | * write a character <attribute> to <address> of MAX7456 display memory |
272 | * write a character <attribute> to <address> of MAX7456 display memory |
273 | */ |
273 | */ |
274 | void write_char_att(uint16_t address, char attribute) { |
274 | void write_char_att(uint16_t address, char attribute) { |
275 | // the only important part is that the DMAH[1] is set |
275 | // the only important part is that the DMAH[1] is set |
276 | // so we add 2 which binary is the 2nd lowest byte |
276 | // so we add 2 which binary is the 2nd lowest byte |
277 | spi_send_byte(0x05, ((address & 0xFF00) >> 8) | 2); // DMAH |
277 | spi_send_byte(0x05, ((address & 0xFF00) >> 8) | 2); // DMAH |
278 | spi_send_byte(0x06, (address & 0x00FF)); // DMAL |
278 | spi_send_byte(0x06, (address & 0x00FF)); // DMAL |
279 | spi_send_byte(0x07, attribute); // DMDI |
279 | spi_send_byte(0x07, attribute); // DMDI |
280 | } |
280 | } |
281 | 281 | ||
282 | /** |
282 | /** |
283 | * write a <character> at <x>/<y> to MAX7456 display memory |
283 | * write a <character> at <x>/<y> to MAX7456 display memory |
284 | */ |
284 | */ |
285 | void write_char_xy(uint8_t x, uint8_t y, char character) { |
285 | void write_char_xy(uint8_t x, uint8_t y, char character) { |
286 | uint16_t address = y * 30 + x; |
286 | uint16_t address = y * 30 + x; |
287 | write_char(address, character); |
287 | write_char(address, character); |
288 | } |
288 | } |
289 | 289 | ||
290 | /** |
290 | /** |
291 | * write a character <attribute> at <x>/<y> to MAX7456 display memory |
291 | * write a character <attribute> at <x>/<y> to MAX7456 display memory |
292 | */ |
292 | */ |
293 | void write_char_att_xy(uint8_t x, uint8_t y, char attribute) { |
293 | void write_char_att_xy(uint8_t x, uint8_t y, char attribute) { |
294 | uint16_t address = y * 30 + x; |
294 | uint16_t address = y * 30 + x; |
295 | write_char_att(address, attribute); |
295 | write_char_att(address, attribute); |
296 | } |
296 | } |
297 | 297 | ||
298 | /** |
298 | /** |
299 | * clear display by writing blank characters all over it |
299 | * clear display by writing blank characters all over it |
300 | */ |
300 | */ |
301 | void clear(void) { |
301 | void clear(void) { |
302 | uint16_t memory_address = 0; |
302 | uint16_t memory_address = 0; |
303 | for (unsigned int a = 0; a < 480; a++) { |
303 | for (unsigned int a = 0; a < 480; a++) { |
304 | write_char(memory_address++, 0); |
304 | write_char(memory_address++, 0); |
305 | } |
305 | } |
306 | } |
306 | } |
307 | 307 | ||
308 | /** |
308 | /** |
309 | * write an ascii <character> to <address> of MAX7456 display memory |
309 | * write an ascii <character> to <address> of MAX7456 display memory |
310 | */ |
310 | */ |
311 | void write_ascii_char(uint16_t address, char c) { |
311 | void write_ascii_char(uint16_t address, char c) { |
312 | if (c == 32) c = 0; // remap space |
312 | if (c == 32) c = 0; // remap space |
313 | else if (c > 48 && c <= 57) c -= 48; // remap numbers |
313 | else if (c > 48 && c <= 57) c -= 48; // remap numbers |
314 | else if (c == '0') c = 10; // remap zero |
314 | else if (c == '0') c = 10; // remap zero |
315 | else if (c >= 65 && c <= 90) c -= 54; // remap big letters |
315 | else if (c >= 65 && c <= 90) c -= 54; // remap big letters |
316 | else if (c >= 97 && c <= 122) c -= 60; // remap small letters |
316 | else if (c >= 97 && c <= 122) c -= 60; // remap small letters |
317 | else if (c == '(') c = 63; // remap |
317 | else if (c == '(') c = 63; // remap |
318 | else if (c == ')') c = 64; // remap |
318 | else if (c == ')') c = 64; // remap |
319 | else if (c == '.') c = 65; // remap |
319 | else if (c == '.') c = 65; // remap |
320 | else if (c == '?') c = 66; // remap |
320 | else if (c == '?') c = 66; // remap |
321 | else if (c == ';') c = 67; // remap |
321 | else if (c == ';') c = 67; // remap |
322 | else if (c == ':') c = 68; // remap |
322 | else if (c == ':') c = 68; // remap |
323 | else if (c == ',') c = 69; // remap |
323 | else if (c == ',') c = 69; // remap |
324 | else if (c == '\'') c = 70; // remap |
324 | else if (c == '\'') c = 70; // remap |
325 | else if (c == '/') c = 71; // remap |
325 | else if (c == '/') c = 71; // remap |
326 | else if (c == '"') c = 72; // remap |
326 | else if (c == '"') c = 72; // remap |
327 | else if (c == '-') c = 73; // remap minus |
327 | else if (c == '-') c = 73; // remap minus |
328 | else if (c == '<') c = 74; // remap |
328 | else if (c == '<') c = 74; // remap |
329 | else if (c == '>') c = 75; // remap |
329 | else if (c == '>') c = 75; // remap |
330 | else if (c == '@') c = 76; // remap |
330 | else if (c == '@') c = 76; // remap |
331 | write_char(address, c); |
331 | write_char(address, c); |
332 | } |
332 | } |
333 | 333 | ||
334 | /** |
334 | /** |
335 | * write an ascii <string> at <x>/<y> to MAX7456 display memory |
335 | * write an ascii <string> at <x>/<y> to MAX7456 display memory |
336 | */ |
336 | */ |
337 | void write_ascii_string(uint8_t x, uint8_t y, char *string) { |
337 | void write_ascii_string(uint8_t x, uint8_t y, char *string) { |
338 | while (*string) { |
338 | while (*string) { |
339 | write_ascii_char(((x++)+(y * 30)), *string); |
339 | write_ascii_char(((x++)+(y * 30)), *string); |
340 | string++; |
340 | string++; |
341 | } |
341 | } |
342 | } |
342 | } |
343 | 343 | ||
344 | /** |
344 | /** |
345 | * Write only the last three digits of a <number> at <x>/<y> to MAX7456 |
345 | * Write only the last three digits of a <number> at <x>/<y> to MAX7456 |
346 | * display memory. takes full 16bit numbers as well for stuff |
346 | * display memory. takes full 16bit numbers as well for stuff |
347 | * like compass only taking three characters (values <= 999) |
347 | * like compass only taking three characters (values <= 999) |
348 | */ |
348 | */ |
349 | void write_3digit_number_u(uint8_t x, uint8_t y, uint16_t number) { |
349 | void write_3digit_number_u(uint8_t x, uint8_t y, uint16_t number) { |
350 | uint16_t num = 100; |
350 | uint16_t num = 100; |
351 | uint8_t started = 0; |
351 | uint8_t started = 0; |
352 | 352 | ||
353 | while (num > 0) { |
353 | while (num > 0) { |
354 | uint8_t b = number / num; |
354 | uint8_t b = number / num; |
355 | if (b > 0 || started || num == 1) { |
355 | if (b > 0 || started || num == 1) { |
356 | write_ascii_char((x++)+(y * 30), '0' + b); |
356 | write_ascii_char((x++)+(y * 30), '0' + b); |
357 | started = 1; |
357 | started = 1; |
358 | } else { |
358 | } else { |
359 | write_ascii_char((x++)+(y * 30), 0); |
359 | write_ascii_char((x++)+(y * 30), 0); |
360 | } |
360 | } |
361 | number -= b * num; |
361 | number -= b * num; |
362 | 362 | ||
363 | num /= 10; |
363 | num /= 10; |
364 | } |
364 | } |
365 | } |
365 | } |
366 | 366 | ||
367 | /** |
367 | /** |
368 | * Write only the last two digits of a number at <x>/<y> to MAX7456 |
368 | * Write only the last two digits of a number at <x>/<y> to MAX7456 |
369 | * display memory. takes full 16bit numbers as well for stuff |
369 | * display memory. takes full 16bit numbers as well for stuff |
370 | * like seconds only taking two characters (values <= 99) |
370 | * like seconds only taking two characters (values <= 99) |
371 | * Since this is used for seconds only and it looks better, there |
371 | * Since this is used for seconds only and it looks better, there |
372 | * is a trading 0 attached |
372 | * is a trading 0 attached |
373 | */ |
373 | */ |
374 | void write_2digit_number_u(uint8_t x, uint8_t y, uint16_t number) { |
374 | void write_2digit_number_u(uint8_t x, uint8_t y, uint16_t number) { |
375 | uint16_t num = 10; |
375 | uint16_t num = 10; |
376 | uint8_t started = 0; |
376 | uint8_t started = 0; |
377 | 377 | ||
378 | while (num > 0) { |
378 | while (num > 0) { |
379 | uint8_t b = number / num; |
379 | uint8_t b = number / num; |
380 | if (b > 0 || started || num == 1) { |
380 | if (b > 0 || started || num == 1) { |
381 | write_ascii_char((x++)+(y * 30), '0' + b); |
381 | write_ascii_char((x++)+(y * 30), '0' + b); |
382 | started = 1; |
382 | started = 1; |
383 | } else { |
383 | } else { |
384 | write_ascii_char((x++)+(y * 30), '0'); |
384 | write_ascii_char((x++)+(y * 30), '0'); |
385 | } |
385 | } |
386 | number -= b * num; |
386 | number -= b * num; |
387 | 387 | ||
388 | num /= 10; |
388 | num /= 10; |
389 | } |
389 | } |
390 | } |
390 | } |
391 | 391 | ||
392 | /** |
392 | /** |
393 | * write a unsigned number as /10th at <x>/<y> to MAX7456 display memory |
393 | * write a unsigned number as /10th at <x>/<y> to MAX7456 display memory |
394 | */ |
394 | */ |
395 | void write_number_u_10th(uint8_t x, uint8_t y, uint16_t number) { |
395 | void write_number_u_10th(uint8_t x, uint8_t y, uint16_t number) { |
396 | uint16_t num = 10000; |
396 | uint16_t num = 10000; |
397 | uint8_t started = 0; |
397 | uint8_t started = 0; |
398 | 398 | ||
399 | while (num > 0) { |
399 | while (num > 0) { |
400 | uint8_t b = number / num; |
400 | uint8_t b = number / num; |
401 | 401 | ||
402 | if (b > 0 || started || num == 1) { |
402 | if (b > 0 || started || num == 1) { |
403 | if ((num / 10) == 0) write_char((x++)+(y * 30), 65); |
403 | if ((num / 10) == 0) write_char((x++)+(y * 30), 65); |
404 | write_ascii_char((x++)+(y * 30), '0' + b); |
404 | write_ascii_char((x++)+(y * 30), '0' + b); |
405 | started = 1; |
405 | started = 1; |
406 | } else { |
406 | } else { |
407 | write_ascii_char((x++)+(y * 30), 0); |
407 | write_ascii_char((x++)+(y * 30), 0); |
408 | } |
408 | } |
409 | number -= b * num; |
409 | number -= b * num; |
410 | 410 | ||
411 | num /= 10; |
411 | num /= 10; |
412 | } |
412 | } |
413 | } |
413 | } |
414 | 414 | ||
415 | /** |
415 | /** |
416 | * write a unsigned number at <x>/<y> to MAX7456 display memory |
416 | * write a unsigned number at <x>/<y> to MAX7456 display memory |
417 | */ |
417 | */ |
418 | void write_number_u(uint8_t x, uint8_t y, uint16_t number) { |
418 | void write_number_u(uint8_t x, uint8_t y, uint16_t number) { |
419 | uint16_t num = 10000; |
419 | uint16_t num = 10000; |
420 | uint8_t started = 0; |
420 | uint8_t started = 0; |
421 | 421 | ||
422 | while (num > 0) { |
422 | while (num > 0) { |
423 | uint8_t b = number / num; |
423 | uint8_t b = number / num; |
424 | if (b > 0 || started || num == 1) { |
424 | if (b > 0 || started || num == 1) { |
425 | write_ascii_char((x++)+(y * 30), '0' + b); |
425 | write_ascii_char((x++)+(y * 30), '0' + b); |
426 | started = 1; |
426 | started = 1; |
427 | } else { |
427 | } else { |
428 | write_ascii_char((x++)+(y * 30), 0); |
428 | write_ascii_char((x++)+(y * 30), 0); |
429 | } |
429 | } |
430 | number -= b * num; |
430 | number -= b * num; |
431 | 431 | ||
432 | num /= 10; |
432 | num /= 10; |
433 | } |
433 | } |
434 | } |
434 | } |
435 | 435 | ||
436 | /** |
436 | /** |
437 | * write a signed number at <x>/<y> to MAX7456 display memory |
437 | * write a signed number at <x>/<y> to MAX7456 display memory |
438 | */ |
438 | */ |
439 | void write_number_s(uint8_t x, uint8_t y, int16_t w) { |
439 | void write_number_s(uint8_t x, uint8_t y, int16_t w) { |
440 | if (((uint16_t) w) > 32767) { |
440 | if (((uint16_t) w) > 32767) { |
441 | w = w - 65536; |
441 | w = w - 65536; |
442 | 442 | ||
443 | int16_t num = -10000; |
443 | int16_t num = -10000; |
444 | uint8_t started = 0; |
444 | uint8_t started = 0; |
445 | 445 | ||
446 | while (num < 0) { |
446 | while (num < 0) { |
447 | uint8_t b = w / num; |
447 | uint8_t b = w / num; |
448 | if (b > 0 || started || num == 1) { |
448 | if (b > 0 || started || num == 1) { |
449 | if (!started) write_char((x - 1)+(y * 30), 0x49); |
449 | if (!started) write_char((x - 1)+(y * 30), 0x49); |
450 | write_ascii_char((x++)+(y * 30), '0' + b); |
450 | write_ascii_char((x++)+(y * 30), '0' + b); |
451 | started = 1; |
451 | started = 1; |
452 | } else { |
452 | } else { |
453 | write_ascii_char((x++)+(y * 30), 0); |
453 | write_ascii_char((x++)+(y * 30), 0); |
454 | } |
454 | } |
455 | w -= b * num; |
455 | w -= b * num; |
456 | 456 | ||
457 | num /= 10; |
457 | num /= 10; |
458 | } |
458 | } |
459 | } else { |
459 | } else { |
460 | write_char((x)+(y * 30), 0); |
460 | write_char((x)+(y * 30), 0); |
461 | write_number_u(x, y, w); |
461 | write_number_u(x, y, w); |
462 | } |
462 | } |
463 | } |
463 | } |
464 | 464 | ||
465 | /** |
465 | /** |
466 | * write <seconds> as human readable time at <x>/<y> to MAX7456 display mem |
466 | * write <seconds> as human readable time at <x>/<y> to MAX7456 display mem |
467 | */ |
467 | */ |
468 | void write_time(uint8_t x, uint8_t y, uint16_t seconds) { |
468 | void write_time(uint8_t x, uint8_t y, uint16_t seconds) { |
469 | uint16_t min = seconds / 60; |
469 | uint16_t min = seconds / 60; |
470 | seconds -= min * 60; |
470 | seconds -= min * 60; |
471 | write_3digit_number_u(x, y, min); |
471 | write_3digit_number_u(x, y, min); |
472 | write_char_xy(x + 3, y, 68); |
472 | write_char_xy(x + 3, y, 68); |
473 | write_2digit_number_u(x + 4, y, seconds); |
473 | write_2digit_number_u(x + 4, y, seconds); |
474 | } |
474 | } |
475 | 475 | ||
476 | /** |
476 | /** |
477 | * for testing write all chars to screen |
477 | * for testing write all chars to screen |
478 | */ |
478 | */ |
479 | void write_all_chars() { |
479 | void write_all_chars() { |
480 | uint16_t x = 3, y = 2, t = 0; |
480 | uint16_t x = 3, y = 2, t = 0; |
481 | while (t < 256) { |
481 | while (t < 256) { |
482 | write_char_xy(x++, y, t++); |
482 | write_char_xy(x++, y, t++); |
483 | if (x > 25) { |
483 | if (x > 25) { |
484 | y++; |
484 | y++; |
485 | x = 3; |
485 | x = 3; |
486 | } |
486 | } |
487 | } |
487 | } |
488 | } |
488 | } |
489 | 489 | ||
490 | #if !(ALLCHARSDEBUG|WRITECHARS) |
490 | #if !(ALLCHARSDEBUG|WRITECHARS) |
491 | /* ########################################################################## |
491 | /* ########################################################################## |
492 | * USART stuff |
492 | * USART stuff |
493 | * ##########################################################################*/ |
493 | * ##########################################################################*/ |
494 | 494 | ||
495 | /** |
495 | /** |
496 | * init usart1 |
496 | * init usart1 |
497 | */ |
497 | */ |
498 | void usart1_init() { |
498 | void usart1_init() { |
499 | UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8; |
499 | UBRR1H = ((F_CPU / (16UL * baud)) - 1) >> 8; |
500 | UBRR1L = (F_CPU / (16UL * baud)) - 1; |
500 | UBRR1L = (F_CPU / (16UL * baud)) - 1; |
501 | 501 | ||
502 | // Enable receiver and transmitter; enable RX interrupt |
502 | // Enable receiver and transmitter; enable RX interrupt |
503 | UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1); |
503 | UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1); |
504 | 504 | ||
505 | //asynchronous 8N1 |
505 | //asynchronous 8N1 |
506 | UCSR1C = (1 << URSEL1) | (3 << UCSZ10); |
506 | UCSR1C = (1 << URSEL1) | (3 << UCSZ10); |
507 | } |
507 | } |
508 | 508 | ||
509 | /** |
509 | /** |
510 | * send a single <character> through usart1 |
510 | * send a single <character> through usart1 |
511 | */ |
511 | */ |
512 | void usart1_putc(unsigned char character) { |
512 | void usart1_putc(unsigned char character) { |
513 | // wait until UDR ready |
513 | // wait until UDR ready |
514 | while (!(UCSR1A & (1 << UDRE1))); |
514 | while (!(UCSR1A & (1 << UDRE1))); |
515 | UDR1 = character; |
515 | UDR1 = character; |
516 | } |
516 | } |
517 | 517 | ||
518 | /** |
518 | /** |
519 | * send a <string> throught usart1 |
519 | * send a <string> throught usart1 |
520 | */ |
520 | */ |
521 | void usart1_puts(char *s) { |
521 | void usart1_puts(char *s) { |
522 | while (*s) { |
522 | while (*s) { |
523 | usart1_putc(*s); |
523 | usart1_putc(*s); |
524 | s++; |
524 | s++; |
525 | } |
525 | } |
526 | } |
526 | } |
527 | 527 | ||
528 | /** |
528 | /** |
529 | * receive data through usart1 |
529 | * receive data through usart1 |
530 | * portions taken and adapted from |
530 | * portions taken and adapted from |
531 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c |
531 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c |
532 | */ |
532 | */ |
533 | ISR(SIG_USART1_RECV) { |
533 | ISR(SIG_USART1_RECV) { |
534 | if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
534 | if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
535 | LED1_ON |
535 | LED1_ON |
536 | static uint16_t crc; |
536 | static uint16_t crc; |
537 | static uint8_t ptr_rxd_buffer = 0; |
537 | static uint8_t ptr_rxd_buffer = 0; |
538 | uint8_t crc1, crc2; |
538 | uint8_t crc1, crc2; |
539 | uint8_t c; |
539 | uint8_t c; |
540 | 540 | ||
541 | c = UDR1; // catch the received byte |
541 | c = UDR1; // catch the received byte |
542 | 542 | ||
543 | // the rxd buffer is unlocked |
543 | // the rxd buffer is unlocked |
544 | if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
544 | if ((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
545 | { |
545 | { |
546 | /* |
546 | /* |
547 | // skip other datasets |
547 | // skip other datasets |
548 | if (ptr_rxd_buffer == 2 && rxd_buffer[ptr_rxd_buffer] != 'O') { |
548 | if (ptr_rxd_buffer == 2 && rxd_buffer[ptr_rxd_buffer] != 'O') { |
549 | ptr_rxd_buffer = 0; // reset rxd buffer |
549 | ptr_rxd_buffer = 0; // reset rxd buffer |
550 | rxd_buffer_locked = 0; // unlock rxd buffer |
550 | rxd_buffer_locked = 0; // unlock rxd buffer |
551 | }*/ |
551 | }*/ |
552 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
552 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
553 | crc = c; // init crc |
553 | crc = c; // init crc |
554 | } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
554 | } else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
555 | { |
555 | { |
556 | if (c != '\r') // no termination character |
556 | if (c != '\r') // no termination character |
557 | { |
557 | { |
558 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
558 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
559 | crc += c; // update crc |
559 | crc += c; // update crc |
560 | } else // termination character was received |
560 | } else // termination character was received |
561 | { |
561 | { |
562 | // the last 2 bytes are no subject for checksum calculation |
562 | // the last 2 bytes are no subject for checksum calculation |
563 | // they are the checksum itself |
563 | // they are the checksum itself |
564 | crc -= rxd_buffer[ptr_rxd_buffer - 2]; |
564 | crc -= rxd_buffer[ptr_rxd_buffer - 2]; |
565 | crc -= rxd_buffer[ptr_rxd_buffer - 1]; |
565 | crc -= rxd_buffer[ptr_rxd_buffer - 1]; |
566 | // calculate checksum from transmitted data |
566 | // calculate checksum from transmitted data |
567 | crc %= 4096; |
567 | crc %= 4096; |
568 | crc1 = '=' + crc / 64; |
568 | crc1 = '=' + crc / 64; |
569 | crc2 = '=' + crc % 64; |
569 | crc2 = '=' + crc % 64; |
570 | // compare checksum to transmitted checksum bytes |
570 | // compare checksum to transmitted checksum bytes |
571 | if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid |
571 | if ((crc1 == rxd_buffer[ptr_rxd_buffer - 2]) && (crc2 == rxd_buffer[ptr_rxd_buffer - 1])) { // checksum valid |
572 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
572 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
573 | ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
573 | ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
574 | rxd_buffer_locked = 1; // lock the rxd buffer |
574 | rxd_buffer_locked = 1; // lock the rxd buffer |
575 | } else { // checksum invalid |
575 | } else { // checksum invalid |
576 | rxd_buffer_locked = 0; // unlock rxd buffer |
576 | rxd_buffer_locked = 0; // unlock rxd buffer |
577 | } |
577 | } |
578 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
578 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
579 | } |
579 | } |
580 | } else // rxd buffer overrun |
580 | } else // rxd buffer overrun |
581 | { |
581 | { |
582 | ptr_rxd_buffer = 0; // reset rxd buffer |
582 | ptr_rxd_buffer = 0; // reset rxd buffer |
583 | rxd_buffer_locked = 0; // unlock rxd buffer |
583 | rxd_buffer_locked = 0; // unlock rxd buffer |
584 | } |
584 | } |
585 | LED1_OFF |
585 | LED1_OFF |
586 | } |
586 | } |
587 | 587 | ||
588 | /** |
588 | /** |
589 | * Decode the recevied Buffer |
589 | * Decode the recevied Buffer |
590 | * portions taken and adapted from |
590 | * portions taken and adapted from |
591 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
591 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
592 | */ |
592 | */ |
593 | void Decode64(void) { |
593 | void Decode64(void) { |
594 | uint8_t a, b, c, d; |
594 | uint8_t a, b, c, d; |
595 | uint8_t x, y, z; |
595 | uint8_t x, y, z; |
596 | uint8_t ptrIn = 3; |
596 | uint8_t ptrIn = 3; |
597 | uint8_t ptrOut = 3; |
597 | uint8_t ptrOut = 3; |
598 | uint8_t len = ReceivedBytes - 6; |
598 | uint8_t len = ReceivedBytes - 6; |
599 | 599 | ||
600 | while (len) { |
600 | while (len) { |
601 | a = rxd_buffer[ptrIn++] - '='; |
601 | a = rxd_buffer[ptrIn++] - '='; |
602 | b = rxd_buffer[ptrIn++] - '='; |
602 | b = rxd_buffer[ptrIn++] - '='; |
603 | c = rxd_buffer[ptrIn++] - '='; |
603 | c = rxd_buffer[ptrIn++] - '='; |
604 | d = rxd_buffer[ptrIn++] - '='; |
604 | d = rxd_buffer[ptrIn++] - '='; |
605 | 605 | ||
606 | x = (a << 2) | (b >> 4); |
606 | x = (a << 2) | (b >> 4); |
607 | y = ((b & 0x0f) << 4) | (c >> 2); |
607 | y = ((b & 0x0f) << 4) | (c >> 2); |
608 | z = ((c & 0x03) << 6) | d; |
608 | z = ((c & 0x03) << 6) | d; |
609 | 609 | ||
610 | if (len--) rxd_buffer[ptrOut++] = x; |
610 | if (len--) rxd_buffer[ptrOut++] = x; |
611 | else break; |
611 | else break; |
612 | if (len--) rxd_buffer[ptrOut++] = y; |
612 | if (len--) rxd_buffer[ptrOut++] = y; |
613 | else break; |
613 | else break; |
614 | if (len--) rxd_buffer[ptrOut++] = z; |
614 | if (len--) rxd_buffer[ptrOut++] = z; |
615 | else break; |
615 | else break; |
616 | } |
616 | } |
617 | pRxData = &rxd_buffer[3]; |
617 | pRxData = &rxd_buffer[3]; |
618 | RxDataLen = ptrOut - 3; |
618 | RxDataLen = ptrOut - 3; |
619 | } |
619 | } |
620 | 620 | ||
621 | /** |
621 | /** |
622 | * request Data through USART in special MK format by adding checksum and |
622 | * request Data through USART in special MK format by adding checksum and |
623 | * encode data in modified Base64 |
623 | * encode data in modified Base64 |
624 | * portions taken and adapted from |
624 | * portions taken and adapted from |
625 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
625 | * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Ftags%2FV0.72p%2Fuart.c |
626 | */ |
626 | */ |
627 | void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) { |
627 | void sendMKData(unsigned char cmd, unsigned char addr, unsigned char *snd, unsigned char len) { |
628 | unsigned int pt = 0; |
628 | unsigned int pt = 0; |
629 | unsigned char a, b, c; |
629 | unsigned char a, b, c; |
630 | unsigned char ptr = 0; |
630 | unsigned char ptr = 0; |
631 | 631 | ||
632 | txd_buffer[pt++] = '#'; // Start-Byte |
632 | txd_buffer[pt++] = '#'; // Start-Byte |
633 | txd_buffer[pt++] = 'a' + addr; // Adress |
633 | txd_buffer[pt++] = 'a' + addr; // Adress |
634 | txd_buffer[pt++] = cmd; // Command |
634 | txd_buffer[pt++] = cmd; // Command |
635 | while (len) { |
635 | while (len) { |
636 | if (len) { |
636 | if (len) { |
637 | a = snd[ptr++]; |
637 | a = snd[ptr++]; |
638 | len--; |
638 | len--; |
639 | } else a = 0; |
639 | } else a = 0; |
640 | if (len) { |
640 | if (len) { |
641 | b = snd[ptr++]; |
641 | b = snd[ptr++]; |
642 | len--; |
642 | len--; |
643 | } else b = 0; |
643 | } else b = 0; |
644 | if (len) { |
644 | if (len) { |
645 | c = snd[ptr++]; |
645 | c = snd[ptr++]; |
646 | len--; |
646 | len--; |
647 | } else c = 0; |
647 | } else c = 0; |
648 | txd_buffer[pt++] = '=' + (a >> 2); |
648 | txd_buffer[pt++] = '=' + (a >> 2); |
649 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
649 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
650 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
650 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
651 | txd_buffer[pt++] = '=' + (c & 0x3f); |
651 | txd_buffer[pt++] = '=' + (c & 0x3f); |
652 | } |
652 | } |
653 | 653 | ||
654 | // add crc |
654 | // add crc |
655 | unsigned int tmpCRC = 0, i; |
655 | unsigned int tmpCRC = 0, i; |
656 | for (i = 0; i < pt; i++) { |
656 | for (i = 0; i < pt; i++) { |
657 | tmpCRC += txd_buffer[i]; |
657 | tmpCRC += txd_buffer[i]; |
658 | } |
658 | } |
659 | tmpCRC %= 4096; |
659 | tmpCRC %= 4096; |
660 | txd_buffer[i++] = '=' + tmpCRC / 64; |
660 | txd_buffer[i++] = '=' + tmpCRC / 64; |
661 | txd_buffer[i++] = '=' + tmpCRC % 64; |
661 | txd_buffer[i++] = '=' + tmpCRC % 64; |
662 | txd_buffer[i++] = '\r'; |
662 | txd_buffer[i++] = '\r'; |
663 | 663 | ||
664 | usart1_puts((char*) txd_buffer); |
664 | usart1_puts((char*) txd_buffer); |
665 | } |
665 | } |
666 | 666 | ||
667 | /* ########################################################################## |
667 | /* ########################################################################## |
668 | * timer stuff |
668 | * timer stuff |
669 | * ##########################################################################*/ |
669 | * ##########################################################################*/ |
670 | 670 | ||
671 | /* |
671 | /* |
672 | * timer kicks in every 1000uS |
672 | * timer kicks in every 1000uS |
673 | */ |
673 | */ |
674 | ISR(TIMER0_OVF_vect) { |
674 | ISR(TIMER0_OVF_vect) { |
675 | OCR0 = 6; // preload |
675 | OCR0 = 6; // preload |
676 | if (!timer--) { |
676 | if (!timer--) { |
677 | uptime++; |
677 | uptime++; |
678 | timer = 999; |
678 | timer = 999; |
679 | } |
679 | } |
680 | } |
680 | } |
681 | 681 | ||
682 | /* ########################################################################## |
682 | /* ########################################################################## |
683 | * compass stuff |
683 | * compass stuff |
684 | * ##########################################################################*/ |
684 | * ##########################################################################*/ |
685 | 685 | ||
686 | /** |
686 | /** |
687 | * convert the <heading> gotton from NC into an index |
687 | * convert the <heading> gotton from NC into an index |
688 | */ |
688 | */ |
689 | uint8_t heading_conv(uint16_t heading) { |
689 | uint8_t heading_conv(uint16_t heading) { |
690 | if (heading > 23 && heading < 68) { |
690 | if (heading > 23 && heading < 68) { |
691 | //direction = "NE"; |
691 | //direction = "NE"; |
692 | return 0; |
692 | return 0; |
693 | } else if (heading > 67 && heading < 113) { |
693 | } else if (heading > 67 && heading < 113) { |
694 | //direction = "E "; |
694 | //direction = "E "; |
695 | return 1; |
695 | return 1; |
696 | } else if (heading > 112 && heading < 158) { |
696 | } else if (heading > 112 && heading < 158) { |
697 | //direction = "SE"; |
697 | //direction = "SE"; |
698 | return 2; |
698 | return 2; |
699 | } else if (heading > 157 && heading < 203) { |
699 | } else if (heading > 157 && heading < 203) { |
700 | //direction = "S "; |
700 | //direction = "S "; |
701 | return 3; |
701 | return 3; |
702 | } else if (heading > 202 && heading < 248) { |
702 | } else if (heading > 202 && heading < 248) { |
703 | //direction = "SW"; |
703 | //direction = "SW"; |
704 | return 4; |
704 | return 4; |
705 | } else if (heading > 247 && heading < 293) { |
705 | } else if (heading > 247 && heading < 293) { |
706 | //direction = "W "; |
706 | //direction = "W "; |
707 | return 5; |
707 | return 5; |
708 | } else if (heading > 292 && heading < 338) { |
708 | } else if (heading > 292 && heading < 338) { |
709 | //direction = "NW"; |
709 | //direction = "NW"; |
710 | return 6; |
710 | return 6; |
711 | } |
711 | } |
712 | //direction = "N "; |
712 | //direction = "N "; |
713 | return 7; |
713 | return 7; |
714 | } |
714 | } |
715 | 715 | ||
716 | /** |
716 | /** |
717 | * draw a compass rose at <x>/<y> for <heading> |
717 | * draw a compass rose at <x>/<y> for <heading> |
718 | */ |
718 | */ |
719 | void draw_compass(uint8_t x, uint8_t y, uint16_t heading) { |
719 | void draw_compass(uint8_t x, uint8_t y, uint16_t heading) { |
720 | //char* rose = "---N---O---S---W---N---O---S---W---N---O---S---W"; |
720 | //char* rose = "---N---O---S---W---N---O---S---W---N---O---S---W"; |
721 | char rose[48] = {216, 215, 216, 211, 216, 215, 216, 213, 216, 215, 216, 212, |
721 | char rose[48] = {216, 215, 216, 211, 216, 215, 216, 213, 216, 215, 216, 212, |
722 | 216, 215, 216, 214, 216, 215, 216, 211, 216, 215, 216, 213, |
722 | 216, 215, 216, 214, 216, 215, 216, 211, 216, 215, 216, 213, |
723 | 216, 215, 216, 212, 216, 215, 216, 214, 216, 215, 216, 211, |
723 | 216, 215, 216, 212, 216, 215, 216, 214, 216, 215, 216, 211, |
724 | 216, 215, 216, 213, 216, 215, 216, 212, 216, 215, 216, 214}; |
724 | 216, 215, 216, 213, 216, 215, 216, 212, 216, 215, 216, 214}; |
725 | // the center is char 19 (north), we add the current heading in 8th |
725 | // the center is char 19 (north), we add the current heading in 8th |
726 | // which would be 22.5 degrees, but float would bloat up the code |
726 | // which would be 22.5 degrees, but float would bloat up the code |
727 | // and *10 / 225 would take ages... so we take the uncorrect way |
727 | // and *10 / 225 would take ages... so we take the uncorrect way |
728 | uint8_t front = 19 + (heading / 22); |
728 | uint8_t front = 19 + (heading / 22); |
729 | for (uint8_t i = 0; i < 9; i++) { |
729 | for (uint8_t i = 0; i < 9; i++) { |
730 | write_char_xy(x++, y, rose[front - 4 + i]); |
730 | write_char_xy(x++, y, rose[front - 4 + i]); |
731 | } |
731 | } |
732 | } |
732 | } |
733 | 733 | ||
734 | /* ########################################################################## |
734 | /* ########################################################################## |
735 | * artificial horizon |
735 | * artificial horizon |
736 | * ##########################################################################*/ |
736 | * ##########################################################################*/ |
737 | // remember last time displayed values |
737 | // remember last time displayed values |
738 | int8_t old_af_x = -1, old_af_y = -1; |
738 | int8_t old_af_x = -1, old_af_y = -1; |
739 | 739 | ||
740 | /** |
740 | /** |
741 | * draw roll und nick indicators (could be enhanced to full artificial horizon) |
741 | * draw roll und nick indicators (could be enhanced to full artificial horizon) |
742 | * from line <firstline> to <listlines> for given <nick> and <roll> values |
742 | * from line <firstline> to <listlines> for given <nick> and <roll> values |
743 | */ |
743 | */ |
744 | void draw_artificial_horizon(uint8_t firstline, uint8_t lastline, int16_t nick, int16_t roll) { |
744 | void draw_artificial_horizon(uint8_t firstline, uint8_t lastline, int16_t nick, int16_t roll) { |
745 | char noodle[5] = {225, 225, 226, 227, 227}; |
745 | char noodle[5] = {225, 225, 226, 227, 227}; |
746 | uint8_t center_x = 15; |
746 | uint8_t center_x = 15; |
747 | uint8_t center_y = lastline - firstline; |
747 | uint8_t center_y = lastline - firstline; |
748 | center_y = 7; |
748 | center_y = 7; |
749 | write_char_xy(center_x,center_y,228); |
749 | write_char_xy(center_x,center_y,228); |
750 | uint8_t cpos, nicky, rollx; |
750 | uint8_t cpos, nicky, rollx; |
751 | 751 | ||
752 | // which line |
752 | // which line |
753 | int8_t ypos = nick / 20; |
753 | int8_t ypos = nick / 20; |
754 | // which character from the array? |
754 | // which character from the array? |
755 | if (nick < 0) { |
755 | if (nick < 0) { |
756 | cpos = -1*((nick - (ypos * 20))/4); |
756 | cpos = -1*((nick - (ypos * 20))/4); |
757 | ypos--; |
757 | ypos--; |
758 | } else cpos = 4-((nick - (ypos * 20))/4); |
758 | } else cpos = 4-((nick - (ypos * 20))/4); |
759 | if (cpos > 4) cpos = 4; |
759 | if (cpos > 4) cpos = 4; |
760 | 760 | ||
761 | nicky = center_y - ypos; |
761 | nicky = center_y - ypos; |
762 | if (nicky > lastline) nicky = lastline; |
762 | if (nicky > lastline) nicky = lastline; |
763 | else if (nicky < firstline) nicky = firstline; |
763 | else if (nicky < firstline) nicky = firstline; |
764 | 764 | ||
765 | // ensure roll-borders |
765 | // ensure roll-borders |
766 | rollx = (roll / 8)+15; |
766 | rollx = (roll / 8)+15; |
767 | if (rollx < 2) rollx = 2; |
767 | if (rollx < 2) rollx = 2; |
768 | else if (rollx > 28) rollx = 28; |
768 | else if (rollx > 28) rollx = 28; |
769 | 769 | ||
770 | 770 | ||
771 | // clear roll |
771 | // clear roll |
772 | if (old_af_x != rollx && old_af_x >= 0) { |
772 | if (old_af_x != rollx && old_af_x >= 0) { |
773 | write_char_xy(old_af_x,13,0); |
773 | write_char_xy(old_af_x,13,0); |
774 | } |
774 | } |
775 | 775 | ||
776 | // clear nick |
776 | // clear nick |
777 | if (old_af_y != nicky && old_af_y >= 0) { |
777 | if (old_af_y != nicky && old_af_y >= 0) { |
778 | write_char_xy(center_x-1,old_af_y,0); |
778 | write_char_xy(center_x-1,old_af_y,0); |
779 | write_char_xy(center_x+1,old_af_y,0); |
779 | write_char_xy(center_x+1,old_af_y,0); |
780 | } |
780 | } |
781 | 781 | ||
782 | 782 | ||
783 | // draw nick |
783 | // draw nick |
784 | write_char_xy(center_x-1,nicky,noodle[cpos]); |
784 | write_char_xy(center_x-1,nicky,noodle[cpos]); |
785 | write_char_xy(center_x+1,nicky,noodle[cpos]); |
785 | write_char_xy(center_x+1,nicky,noodle[cpos]); |
786 | 786 | ||
787 | // draw roll |
787 | // draw roll |
788 | write_char_xy(rollx,lastline,229); |
788 | write_char_xy(rollx,lastline,229); |
789 | 789 | ||
790 | // update old vars |
790 | // update old vars |
791 | old_af_x = rollx; |
791 | old_af_x = rollx; |
792 | old_af_y = nicky; |
792 | old_af_y = nicky; |
793 | 793 | ||
794 | // debug numbers |
794 | // debug numbers |
795 | //write_3digit_number_u(20,6,cpos); |
795 | //write_3digit_number_u(20,6,cpos); |
796 | //write_number_s(20,7,ypos); |
796 | //write_number_s(20,7,ypos); |
797 | //write_number_s(0,7,nick); |
797 | //write_number_s(0,7,nick); |
798 | //write_number_s(18,11,roll); |
798 | //write_number_s(18,11,roll); |
799 | } |
799 | } |
800 | 800 | ||
801 | /* ########################################################################## |
801 | /* ########################################################################## |
802 | * A simple config menu for the flags |
802 | * A simple config menu for the flags |
803 | * ##########################################################################*/ |
803 | * ##########################################################################*/ |
804 | void config_menu(void) { |
804 | void config_menu(void) { |
805 | // disable interrupts (makes the menu more smoothely) |
805 | // disable interrupts (makes the menu more smoothely) |
806 | cli(); |
806 | cli(); |
807 | 807 | ||
808 | // clear screen |
808 | // clear screen |
809 | clear(); |
809 | clear(); |
810 | 810 | ||
811 | char* menu[4] = {"Normal OSD ", |
811 | char* menu[4] = {"Normal OSD ", |
812 | "Art.Horizon ", |
812 | "Art.Horizon ", |
813 | "NO OSD ", |
813 | "NO OSD ", |
814 | "NO OSD but WRN "}; |
814 | "NO OSD but WRN "}; |
815 | 815 | ||
816 | uint8_t inmenu = 1; |
816 | uint8_t inmenu = 1; |
817 | uint8_t chosen = 0; |
817 | uint8_t chosen = 0; |
818 | write_ascii_string(10, 4, "Config Menu"); |
818 | write_ascii_string(10, 4, "Config Menu"); |
819 | 819 | ||
820 | // clear all mode flags |
820 | // clear all mode flags |
821 | COSD_FLAGS &= ~(COSD_FLAG_ARTHORIZON | COSD_FLAG_NOOSD | COSD_FLAG_NOOSD_BUT_WRN); |
821 | COSD_FLAGS &= ~(COSD_FLAG_ARTHORIZON | COSD_FLAG_NOOSD | COSD_FLAG_NOOSD_BUT_WRN); |
822 | 822 | ||
823 | // wait a bit before doing stuff so user has chance to release button |
823 | // wait a bit before doing stuff so user has chance to release button |
824 | _delay_ms(250); |
824 | _delay_ms(250); |
825 | 825 | ||
826 | while (inmenu) { |
826 | while (inmenu) { |
827 | write_ascii_string(2, 7, menu[chosen]); |
827 | write_ascii_string(2, 7, menu[chosen]); |
828 | if (s2_pressed()) { |
828 | if (s2_pressed()) { |
829 | chosen = (chosen + 1) % 4; |
829 | chosen = (chosen + 1) % 4; |
830 | _delay_ms(500); |
830 | _delay_ms(500); |
831 | } else if (s1_pressed()) { |
831 | } else if (s1_pressed()) { |
832 | switch (chosen) { |
832 | switch (chosen) { |
833 | case 1: // artificial horizon |
833 | case 1: // artificial horizon |
834 | COSD_FLAGS |= COSD_FLAG_ARTHORIZON; |
834 | COSD_FLAGS |= COSD_FLAG_ARTHORIZON; |
835 | break; |
835 | break; |
836 | case 2: // everything off |
836 | case 2: // everything off |
837 | COSD_FLAGS |= COSD_FLAG_NOOSD; |
837 | COSD_FLAGS |= COSD_FLAG_NOOSD; |
838 | break; |
838 | break; |
839 | case 3: // only warning |
839 | case 3: // only warning |
840 | COSD_FLAGS |= COSD_FLAG_NOOSD_BUT_WRN; |
840 | COSD_FLAGS |= COSD_FLAG_NOOSD_BUT_WRN; |
841 | break; |
841 | break; |
842 | //default: // normal OSD, so let the flags cleared |
842 | //default: // normal OSD, so let the flags cleared |
843 | } |
843 | } |
844 | // leave menu |
844 | // leave menu |
845 | inmenu = 0; |
845 | inmenu = 0; |
846 | _delay_ms(500); |
846 | _delay_ms(500); |
847 | } |
847 | } |
848 | } |
848 | } |
849 | 849 | ||
850 | // clear screen up again |
850 | // clear screen up again |
851 | clear(); |
851 | clear(); |
852 | 852 | ||
853 | // update flags to paint display again if needed |
853 | // update flags to paint display again if needed |
854 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
854 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
855 | 855 | ||
856 | // enable interrupts again |
856 | // enable interrupts again |
857 | sei(); |
857 | sei(); |
858 | } |
858 | } |
859 | 859 | ||
860 | #endif // ends !(ALLCHARSDEBUG|WRITECHARS) |
860 | #endif // ends !(ALLCHARSDEBUG|WRITECHARS) |
861 | 861 | ||
862 | /* ########################################################################## |
862 | /* ########################################################################## |
863 | * MAIN |
863 | * MAIN |
864 | * ##########################################################################*/ |
864 | * ##########################################################################*/ |
865 | int main(void) { |
865 | int main(void) { |
866 | // set up FLAGS, compiler should flatten this one |
866 | // set up FLAGS, compiler should flatten this one |
867 | COSD_FLAGS = (NTSC << (COSD_FLAG_NTSC - 1)); |
867 | COSD_FLAGS = (NTSC << (COSD_FLAG_NTSC - 1)); |
868 | COSD_FLAGS |= (ARTHORIZON << (COSD_FLAG_ARTHORIZON - 1)); |
868 | COSD_FLAGS |= (ARTHORIZON << (COSD_FLAG_ARTHORIZON - 1)); |
869 | COSD_FLAGS |= (NOOSD << (COSD_FLAG_NOOSD - 1)); |
869 | COSD_FLAGS |= (NOOSD << (COSD_FLAG_NOOSD - 1)); |
870 | COSD_FLAGS |= (NOOSD_BUT_WRN << (COSD_FLAG_NOOSD_BUT_WRN - 1)); |
870 | COSD_FLAGS |= (NOOSD_BUT_WRN << (COSD_FLAG_NOOSD_BUT_WRN - 1)); |
871 | 871 | ||
872 | // set up Atmega162 Ports |
872 | // set up Atmega162 Ports |
873 | DDRA |= (1 << PA1); // PA1 output (/CS) |
873 | DDRA |= (1 << PA1); // PA1 output (/CS) |
874 | MAX_CS_HIGH |
874 | MAX_CS_HIGH |
875 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
875 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
876 | MAX_SDIN_LOW |
876 | MAX_SDIN_LOW |
877 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
877 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
878 | MAX_SCLK_LOW |
878 | MAX_SCLK_LOW |
879 | DDRA |= (1 << PA5); // PA5 output (RESET) |
879 | DDRA |= (1 << PA5); // PA5 output (RESET) |
880 | MAX_RESET_HIGH |
880 | MAX_RESET_HIGH |
881 | 881 | ||
882 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
882 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
883 | LED1_OFF |
883 | LED1_OFF |
884 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
884 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
885 | LED2_OFF |
885 | LED2_OFF |
886 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
886 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
887 | LED3_OFF |
887 | LED3_OFF |
888 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
888 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
889 | LED4_OFF |
889 | LED4_OFF |
890 | 890 | ||
891 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
891 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
892 | PORTC |= (1 << PC4); // pullup |
892 | PORTC |= (1 << PC4); // pullup |
893 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
893 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
894 | PORTC |= (1 << PC5); // pullup |
894 | PORTC |= (1 << PC5); // pullup |
895 | 895 | ||
896 | // set up top and bottom lines |
896 | // set up top and bottom lines |
897 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
897 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
898 | bottom_line = 12; |
898 | bottom_line = 12; |
899 | } else { |
899 | } else { |
900 | bottom_line = 14; |
900 | bottom_line = 14; |
901 | } |
901 | } |
902 | 902 | ||
903 | // reset the MAX7456 to be sure any undefined states do no harm |
903 | // reset the MAX7456 to be sure any undefined states do no harm |
904 | MAX_RESET_LOW |
904 | MAX_RESET_LOW |
905 | MAX_RESET_HIGH |
905 | MAX_RESET_HIGH |
906 | 906 | ||
907 | // check for keypress at startup |
907 | // check for keypress at startup |
908 | if (s2_pressed()) { // togle COSD_FLAG_ARTHORIZON |
908 | if (s2_pressed()) { // togle COSD_FLAG_ARTHORIZON |
909 | COSD_FLAGS ^= (1 << (COSD_FLAG_ARTHORIZON - 1)); |
909 | COSD_FLAGS ^= (1 << (COSD_FLAG_ARTHORIZON - 1)); |
910 | _delay_ms(100); |
910 | _delay_ms(100); |
911 | } |
911 | } |
912 | 912 | ||
913 | // give the FC/NC and the maxim time to come up |
913 | // give the FC/NC and the maxim time to come up |
914 | LED4_ON |
914 | LED4_ON |
915 | _delay_ms(2000); |
915 | _delay_ms(2000); |
916 | 916 | ||
917 | LED4_OFF |
917 | LED4_OFF |
918 | 918 | ||
919 | /* ########################################################################## |
919 | /* ########################################################################## |
920 | * Pushing NEW chars to the MAX7456 |
920 | * Pushing NEW chars to the MAX7456 |
921 | * ##########################################################################*/ |
921 | * ##########################################################################*/ |
922 | #if WRITECHARS |
922 | #if WRITECHARS |
923 | void learn_char(uint8_t number, unsigned char* data) { |
923 | void learn_char(uint8_t number, unsigned char* data) { |
924 | // select character to write (CMAH) |
924 | // select character to write (CMAH) |
925 | spi_send_byte(0x09, number); |
925 | spi_send_byte(0x09, number); |
926 | 926 | ||
927 | for (uint8_t i = 0; i < 54; i++) { |
927 | for (uint8_t i = 0; i < 54; i++) { |
928 | // select 4pixel byte of char (CMAL) |
928 | // select 4pixel byte of char (CMAL) |
929 | spi_send_byte(0x0A, i); |
929 | spi_send_byte(0x0A, i); |
930 | 930 | ||
931 | // write 4pixel byte of char (CMDI) |
931 | // write 4pixel byte of char (CMDI) |
932 | spi_send_byte(0x0B, data[i]); |
932 | spi_send_byte(0x0B, data[i]); |
933 | } |
933 | } |
934 | 934 | ||
935 | // write to the NVM array from the shadow RAM (CMM) |
935 | // write to the NVM array from the shadow RAM (CMM) |
936 | spi_send_byte(0x08, 0b10100000); |
936 | spi_send_byte(0x08, 0b10100000); |
937 | 937 | ||
938 | // according to maxim writing to nvram takes about 12ms, lets wait longer |
938 | // according to maxim writing to nvram takes about 12ms, lets wait longer |
939 | _delay_ms(120); |
939 | _delay_ms(120); |
940 | } |
940 | } |
941 | 941 | ||
942 | // DISABLE display (VM0) |
942 | // DISABLE display (VM0) |
943 | spi_send_byte(0x00, 0b00000000); |
943 | spi_send_byte(0x00, 0b00000000); |
944 | 944 | ||
945 | /** |
945 | /** |
946 | * easy char creation: |
946 | * easy char creation: |
947 | * http://cascade.dyndns.org/~cascade/scripts/max7456/ |
947 | * http://cascade.dyndns.org/~cascade/scripts/max7456/ |
948 | */ |
948 | */ |
949 | // flashing more than 8 chars per time is not proven to be safe |
949 | // flashing more than 8 chars per time is not proven to be safe |
950 | // so take care |
950 | // so take care |
951 | #if WRITECHARS == 200 |
951 | #if WRITECHARS == 200 |
952 | // GPS |
952 | // GPS |
953 | unsigned char cc8[54] = {0x55, 0x50, 0x55, 0x55, 0x4a, 0x15, 0x55, 0x2a, |
953 | unsigned char cc8[54] = {0x55, 0x50, 0x55, 0x55, 0x4a, 0x15, 0x55, 0x2a, |
954 | 0x85, 0x55, 0x2a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, |
954 | 0x85, 0x55, 0x2a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, |
955 | 0x52, 0xa8, 0x55, 0x54, 0xaa, 0x55, 0x55, 0x09, |
955 | 0x52, 0xa8, 0x55, 0x54, 0xaa, 0x55, 0x55, 0x09, |
956 | 0x55, 0x55, 0x52, 0x55, 0x55, 0x1a, 0x55, 0x51, |
956 | 0x55, 0x55, 0x52, 0x55, 0x55, 0x1a, 0x55, 0x51, |
957 | 0x96, 0x55, 0x18, 0x85, 0x54, 0x88, 0x28, 0x54, |
957 | 0x96, 0x55, 0x18, 0x85, 0x54, 0x88, 0x28, 0x54, |
958 | 0x82, 0x05, 0x55, 0x20, 0xa1, 0x55, 0x48, 0x15, |
958 | 0x82, 0x05, 0x55, 0x20, 0xa1, 0x55, 0x48, 0x15, |
959 | 0x55, 0x52, 0x85, 0x55, 0x54, 0x15}; |
959 | 0x55, 0x52, 0x85, 0x55, 0x54, 0x15}; |
960 | 960 | ||
961 | unsigned char cc9[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
961 | unsigned char cc9[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
962 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x45, |
962 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x45, |
963 | 0x55, 0x55, 0x21, 0x55, 0x55, 0xa8, 0x55, 0x55, |
963 | 0x55, 0x55, 0x21, 0x55, 0x55, 0xa8, 0x55, 0x55, |
964 | 0xa1, 0x55, 0x55, 0x98, 0x15, 0x55, 0x2a, 0x85, |
964 | 0xa1, 0x55, 0x55, 0x98, 0x15, 0x55, 0x2a, 0x85, |
965 | 0x55, 0x4a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, 0x52, |
965 | 0x55, 0x4a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, 0x52, |
966 | 0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
966 | 0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
967 | 0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
967 | 0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
968 | 968 | ||
969 | // RC |
969 | // RC |
970 | unsigned char cca[54] = {0x54, 0xaa, 0x85, 0x52, 0x00, 0x21, 0x48, 0x2a, |
970 | unsigned char cca[54] = {0x54, 0xaa, 0x85, 0x52, 0x00, 0x21, 0x48, 0x2a, |
971 | 0x08, 0x60, 0x80, 0x82, 0x62, 0x08, 0x22, 0x62, |
971 | 0x08, 0x60, 0x80, 0x82, 0x62, 0x08, 0x22, 0x62, |
972 | 0x2a, 0x22, 0x62, 0x08, 0x22, 0x60, 0x88, 0x82, |
972 | 0x2a, 0x22, 0x62, 0x08, 0x22, 0x60, 0x88, 0x82, |
973 | 0x48, 0x08, 0x08, 0x52, 0x08, 0x21, 0x54, 0x48, |
973 | 0x48, 0x08, 0x08, 0x52, 0x08, 0x21, 0x54, 0x48, |
974 | 0x45, 0x55, 0x48, 0x55, 0x55, 0x48, 0x55, 0x55, |
974 | 0x45, 0x55, 0x48, 0x55, 0x55, 0x48, 0x55, 0x55, |
975 | 0x48, 0x55, 0x55, 0x48, 0x55, 0x55, 0x48, 0x55, |
975 | 0x48, 0x55, 0x55, 0x48, 0x55, 0x55, 0x48, 0x55, |
976 | 0x55, 0x2a, 0x15, 0x54, 0xaa, 0x85}; |
976 | 0x55, 0x2a, 0x15, 0x54, 0xaa, 0x85}; |
977 | 977 | ||
978 | // km/h |
978 | // km/h |
979 | unsigned char ccb[54] = {0x55, 0x55, 0x55, 0x01, 0x55, 0x55, 0x21, 0x55, |
979 | unsigned char ccb[54] = {0x55, 0x55, 0x55, 0x01, 0x55, 0x55, 0x21, 0x55, |
980 | 0x55, 0x20, 0x15, 0x55, 0x22, 0x15, 0x55, 0x28, |
980 | 0x55, 0x20, 0x15, 0x55, 0x22, 0x15, 0x55, 0x28, |
981 | 0x15, 0x55, 0x22, 0x15, 0x55, 0x00, 0x00, 0x15, |
981 | 0x15, 0x55, 0x22, 0x15, 0x55, 0x00, 0x00, 0x15, |
982 | 0x52, 0xaa, 0x15, 0x52, 0x22, 0x15, 0x52, 0x22, |
982 | 0x52, 0xaa, 0x15, 0x52, 0x22, 0x15, 0x52, 0x22, |
983 | 0x15, 0x50, 0x00, 0x05, 0x55, 0x54, 0x85, 0x55, |
983 | 0x15, 0x50, 0x00, 0x05, 0x55, 0x54, 0x85, 0x55, |
984 | 0x54, 0x80, 0x55, 0x54, 0xa8, 0x55, 0x54, 0x88, |
984 | 0x54, 0x80, 0x55, 0x54, 0xa8, 0x55, 0x54, 0x88, |
985 | 0x55, 0x54, 0x88, 0x55, 0x54, 0x00}; |
985 | 0x55, 0x54, 0x88, 0x55, 0x54, 0x00}; |
986 | 986 | ||
987 | 987 | ||
988 | // small meters m |
988 | // small meters m |
989 | unsigned char ccc[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
989 | unsigned char ccc[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
990 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
990 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
991 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
991 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
992 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
992 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
993 | 0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x15, 0x22, |
993 | 0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x15, 0x22, |
994 | 0x8a, 0x15, 0x28, 0xa2, 0x15, 0x20, 0x82, 0x15, |
994 | 0x8a, 0x15, 0x28, 0xa2, 0x15, 0x20, 0x82, 0x15, |
995 | 0x20, 0x82, 0x15, 0x00, 0x00, 0x15}; |
995 | 0x20, 0x82, 0x15, 0x00, 0x00, 0x15}; |
996 | 996 | ||
997 | // vario down |
997 | // vario down |
998 | unsigned char ccd[54] = {0x55, 0x00, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
998 | unsigned char ccd[54] = {0x55, 0x00, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
999 | 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, |
999 | 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, |
1000 | 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, |
1000 | 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, |
1001 | 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
1001 | 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
1002 | 0x55, 0x00, 0x28, 0x00, 0x2a, 0xaa, 0xa8, 0x0a, |
1002 | 0x55, 0x00, 0x28, 0x00, 0x2a, 0xaa, 0xa8, 0x0a, |
1003 | 0xaa, 0xa0, 0x42, 0xaa, 0x81, 0x50, 0xaa, 0x05, |
1003 | 0xaa, 0xa0, 0x42, 0xaa, 0x81, 0x50, 0xaa, 0x05, |
1004 | 0x54, 0x28, 0x15, 0x55, 0x00, 0x55}; |
1004 | 0x54, 0x28, 0x15, 0x55, 0x00, 0x55}; |
1005 | 1005 | ||
1006 | // vario hold |
1006 | // vario hold |
1007 | unsigned char cce[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1007 | unsigned char cce[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1008 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1008 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1009 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x00, |
1009 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x00, |
1010 | 0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x00, 0x00, |
1010 | 0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x00, 0x00, |
1011 | 0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1011 | 0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1012 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1012 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1013 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1013 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1014 | 1014 | ||
1015 | // vario up |
1015 | // vario up |
1016 | unsigned char ccf[54] = {0x55, 0x00, 0x55, 0x54, 0x28, 0x15, 0x50, 0xaa, |
1016 | unsigned char ccf[54] = {0x55, 0x00, 0x55, 0x54, 0x28, 0x15, 0x50, 0xaa, |
1017 | 0x05, 0x42, 0xaa, 0x81, 0x0a, 0xaa, 0xa0, 0x2a, |
1017 | 0x05, 0x42, 0xaa, 0x81, 0x0a, 0xaa, 0xa0, 0x2a, |
1018 | 0xaa, 0xa8, 0x00, 0x28, 0x00, 0x55, 0x28, 0x55, |
1018 | 0xaa, 0xa8, 0x00, 0x28, 0x00, 0x55, 0x28, 0x55, |
1019 | 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
1019 | 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
1020 | 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, |
1020 | 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, |
1021 | 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, |
1021 | 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, |
1022 | 0x55, 0x28, 0x55, 0x55, 0x00, 0x55}; |
1022 | 0x55, 0x28, 0x55, 0x55, 0x00, 0x55}; |
1023 | 1023 | ||
1024 | learn_char(200, cc8); |
1024 | learn_char(200, cc8); |
1025 | learn_char(201, cc9); |
1025 | learn_char(201, cc9); |
1026 | learn_char(202, cca); |
1026 | learn_char(202, cca); |
1027 | learn_char(203, ccb); |
1027 | learn_char(203, ccb); |
1028 | learn_char(204, ccc); |
1028 | learn_char(204, ccc); |
1029 | learn_char(205, ccd); |
1029 | learn_char(205, ccd); |
1030 | learn_char(206, cce); |
1030 | learn_char(206, cce); |
1031 | learn_char(207, ccf); |
1031 | learn_char(207, ccf); |
1032 | #endif |
1032 | #endif |
1033 | #if WRITECHARS == 208 |
1033 | #if WRITECHARS == 208 |
1034 | // degree symbol |
1034 | // degree symbol |
1035 | unsigned char cd0[54] = {0x55, 0x55, 0x55, 0x54, 0x01, 0x55, 0x52, 0xa8, |
1035 | unsigned char cd0[54] = {0x55, 0x55, 0x55, 0x54, 0x01, 0x55, 0x52, 0xa8, |
1036 | 0x55, 0x48, 0x02, 0x15, 0x48, 0x52, 0x15, 0x48, |
1036 | 0x55, 0x48, 0x02, 0x15, 0x48, 0x52, 0x15, 0x48, |
1037 | 0x52, 0x15, 0x48, 0x02, 0x15, 0x52, 0xa8, 0x55, |
1037 | 0x52, 0x15, 0x48, 0x02, 0x15, 0x52, 0xa8, 0x55, |
1038 | 0x54, 0x01, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1038 | 0x54, 0x01, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1039 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1039 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1040 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1040 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1041 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1041 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1042 | 1042 | ||
1043 | // clock on symbol |
1043 | // clock on symbol |
1044 | unsigned char cd1[54] = {0x54, 0x14, 0x51, 0x52, 0x82, 0x08, 0x48, 0x22, |
1044 | unsigned char cd1[54] = {0x54, 0x14, 0x51, 0x52, 0x82, 0x08, 0x48, 0x22, |
1045 | 0x88, 0x48, 0x22, 0x28, 0x48, 0x22, 0x28, 0x52, |
1045 | 0x88, 0x48, 0x22, 0x28, 0x48, 0x22, 0x28, 0x52, |
1046 | 0x82, 0x08, 0x54, 0x14, 0x51, 0x55, 0x40, 0x55, |
1046 | 0x82, 0x08, 0x54, 0x14, 0x51, 0x55, 0x40, 0x55, |
1047 | 0x55, 0x2a, 0x15, 0x54, 0x88, 0x85, 0x52, 0x08, |
1047 | 0x55, 0x2a, 0x15, 0x54, 0x88, 0x85, 0x52, 0x08, |
1048 | 0x21, 0x48, 0x48, 0x08, 0x48, 0x4a, 0x88, 0x48, |
1048 | 0x21, 0x48, 0x48, 0x08, 0x48, 0x4a, 0x88, 0x48, |
1049 | 0x50, 0x08, 0x52, 0x15, 0x21, 0x54, 0x80, 0x85, |
1049 | 0x50, 0x08, 0x52, 0x15, 0x21, 0x54, 0x80, 0x85, |
1050 | 0x55, 0x2a, 0x15, 0x55, 0x40, 0x55}; |
1050 | 0x55, 0x2a, 0x15, 0x55, 0x40, 0x55}; |
1051 | 1051 | ||
1052 | // clock fly symbol |
1052 | // clock fly symbol |
1053 | unsigned char cd2[54] = {0x40, 0x45, 0x11, 0x2a, 0x20, 0x88, 0x20, 0x20, |
1053 | unsigned char cd2[54] = {0x40, 0x45, 0x11, 0x2a, 0x20, 0x88, 0x20, 0x20, |
1054 | 0x88, 0x28, 0x21, 0x21, 0x21, 0x20, 0x21, 0x21, |
1054 | 0x88, 0x28, 0x21, 0x21, 0x21, 0x20, 0x21, 0x21, |
1055 | 0x2a, 0x21, 0x45, 0x40, 0x45, 0x55, 0x40, 0x55, |
1055 | 0x2a, 0x21, 0x45, 0x40, 0x45, 0x55, 0x40, 0x55, |
1056 | 0x55, 0x2a, 0x15, 0x54, 0x88, 0x85, 0x52, 0x08, |
1056 | 0x55, 0x2a, 0x15, 0x54, 0x88, 0x85, 0x52, 0x08, |
1057 | 0x21, 0x48, 0x48, 0x08, 0x48, 0x4a, 0x88, 0x48, |
1057 | 0x21, 0x48, 0x48, 0x08, 0x48, 0x4a, 0x88, 0x48, |
1058 | 0x50, 0x08, 0x52, 0x15, 0x21, 0x54, 0x80, 0x85, |
1058 | 0x50, 0x08, 0x52, 0x15, 0x21, 0x54, 0x80, 0x85, |
1059 | 0x55, 0x2a, 0x15, 0x55, 0x40, 0x55}; |
1059 | 0x55, 0x2a, 0x15, 0x55, 0x40, 0x55}; |
1060 | 1060 | ||
1061 | // compass north |
1061 | // compass north |
1062 | unsigned char cd3[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1062 | unsigned char cd3[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1063 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
1063 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
1064 | 0x54, 0x55, 0x52, 0x12, 0x15, 0x52, 0x82, 0x15, |
1064 | 0x54, 0x55, 0x52, 0x12, 0x15, 0x52, 0x82, 0x15, |
1065 | 0x02, 0x82, 0x00, 0xa2, 0x22, 0x2a, 0x02, 0x0a, |
1065 | 0x02, 0x82, 0x00, 0xa2, 0x22, 0x2a, 0x02, 0x0a, |
1066 | 0x00, 0x52, 0x0a, 0x15, 0x52, 0x12, 0x15, 0x54, |
1066 | 0x00, 0x52, 0x0a, 0x15, 0x52, 0x12, 0x15, 0x54, |
1067 | 0x54, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1067 | 0x54, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1068 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1068 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1069 | 1069 | ||
1070 | // compass south |
1070 | // compass south |
1071 | unsigned char cd4[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1071 | unsigned char cd4[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1072 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1072 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1073 | 0x01, 0x55, 0x54, 0xa8, 0x55, 0x52, 0x02, 0x15, |
1073 | 0x01, 0x55, 0x54, 0xa8, 0x55, 0x52, 0x02, 0x15, |
1074 | 0x04, 0x84, 0x40, 0xa1, 0x21, 0x2a, 0x04, 0x48, |
1074 | 0x04, 0x84, 0x40, 0xa1, 0x21, 0x2a, 0x04, 0x48, |
1075 | 0x40, 0x52, 0x02, 0x15, 0x54, 0xa8, 0x55, 0x55, |
1075 | 0x40, 0x52, 0x02, 0x15, 0x54, 0xa8, 0x55, 0x55, |
1076 | 0x01, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1076 | 0x01, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1077 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1077 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1078 | 1078 | ||
1079 | // compass east |
1079 | // compass east |
1080 | unsigned char cd5[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1080 | unsigned char cd5[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1081 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
1081 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
1082 | 0x00, 0x55, 0x52, 0xaa, 0x15, 0x52, 0x00, 0x55, |
1082 | 0x00, 0x55, 0x52, 0xaa, 0x15, 0x52, 0x00, 0x55, |
1083 | 0x02, 0x05, 0x40, 0xa2, 0xa1, 0x2a, 0x02, 0x05, |
1083 | 0x02, 0x05, 0x40, 0xa2, 0xa1, 0x2a, 0x02, 0x05, |
1084 | 0x40, 0x52, 0x00, 0x55, 0x52, 0xaa, 0x15, 0x54, |
1084 | 0x40, 0x52, 0x00, 0x55, 0x52, 0xaa, 0x15, 0x54, |
1085 | 0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1085 | 0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1086 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1086 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1087 | 1087 | ||
1088 | // compass west |
1088 | // compass west |
1089 | unsigned char cd6[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1089 | unsigned char cd6[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1090 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
1090 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
1091 | 0x54, 0x55, 0x52, 0x12, 0x15, 0x52, 0x12, 0x15, |
1091 | 0x54, 0x55, 0x52, 0x12, 0x15, 0x52, 0x12, 0x15, |
1092 | 0x02, 0x02, 0x00, 0xa2, 0x22, 0x2a, 0x02, 0x8a, |
1092 | 0x02, 0x02, 0x00, 0xa2, 0x22, 0x2a, 0x02, 0x8a, |
1093 | 0x00, 0x52, 0x8a, 0x15, 0x52, 0x12, 0x15, 0x54, |
1093 | 0x00, 0x52, 0x8a, 0x15, 0x52, 0x12, 0x15, 0x54, |
1094 | 0x54, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1094 | 0x54, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1095 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1095 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1096 | 1096 | ||
1097 | // compass between |
1097 | // compass between |
1098 | unsigned char cd7[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1098 | unsigned char cd7[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1099 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1099 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1100 | 0x55, 0x55, 0x55, 0x45, 0x55, 0x55, 0x21, 0x55, |
1100 | 0x55, 0x55, 0x55, 0x45, 0x55, 0x55, 0x21, 0x55, |
1101 | 0x01, 0x21, 0x00, 0xa8, 0x20, 0xaa, 0x01, 0x21, |
1101 | 0x01, 0x21, 0x00, 0xa8, 0x20, 0xaa, 0x01, 0x21, |
1102 | 0x00, 0x55, 0x21, 0x55, 0x55, 0x45, 0x55, 0x55, |
1102 | 0x00, 0x55, 0x21, 0x55, 0x55, 0x45, 0x55, 0x55, |
1103 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1103 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1104 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1104 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1105 | 1105 | ||
1106 | learn_char(208, cd0); |
1106 | learn_char(208, cd0); |
1107 | learn_char(209, cd1); |
1107 | learn_char(209, cd1); |
1108 | learn_char(210, cd2); |
1108 | learn_char(210, cd2); |
1109 | learn_char(211, cd3); |
1109 | learn_char(211, cd3); |
1110 | learn_char(212, cd4); |
1110 | learn_char(212, cd4); |
1111 | learn_char(213, cd5); |
1111 | learn_char(213, cd5); |
1112 | learn_char(214, cd6); |
1112 | learn_char(214, cd6); |
1113 | learn_char(215, cd7); |
1113 | learn_char(215, cd7); |
1114 | #endif |
1114 | #endif |
1115 | #if WRITECHARS == 216 |
1115 | #if WRITECHARS == 216 |
1116 | // compass line |
1116 | // compass line |
1117 | unsigned char cd8[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1117 | unsigned char cd8[54] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1118 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1118 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1119 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1119 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1120 | 0x00, 0x00, 0x00, 0xaa, 0xaa, 0xaa, 0x00, 0x00, |
1120 | 0x00, 0x00, 0x00, 0xaa, 0xaa, 0xaa, 0x00, 0x00, |
1121 | 0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1121 | 0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1122 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1122 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1123 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1123 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1124 | 1124 | ||
1125 | // arrow right |
1125 | // arrow right |
1126 | unsigned char cd9[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1126 | unsigned char cd9[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1127 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1127 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1128 | 0x55, 0x15, 0x55, 0x54, 0x85, 0x40, 0x00, 0xa1, |
1128 | 0x55, 0x15, 0x55, 0x54, 0x85, 0x40, 0x00, 0xa1, |
1129 | 0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x40, 0x00, |
1129 | 0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x40, 0x00, |
1130 | 0xa1, 0x55, 0x54, 0x85, 0x55, 0x55, 0x15, 0x55, |
1130 | 0xa1, 0x55, 0x54, 0x85, 0x55, 0x55, 0x15, 0x55, |
1131 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1131 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1132 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1132 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1133 | 1133 | ||
1134 | // arrow right-up |
1134 | // arrow right-up |
1135 | unsigned char cda[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1135 | unsigned char cda[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1136 | 0x55, 0x55, 0x40, 0x01, 0x55, 0x2a, 0xa8, 0x55, |
1136 | 0x55, 0x55, 0x40, 0x01, 0x55, 0x2a, 0xa8, 0x55, |
1137 | 0x4a, 0xa8, 0x55, 0x52, 0xa8, 0x55, 0x4a, 0xa8, |
1137 | 0x4a, 0xa8, 0x55, 0x52, 0xa8, 0x55, 0x4a, 0xa8, |
1138 | 0x55, 0x2a, 0x28, 0x54, 0xa8, 0x48, 0x52, 0xa1, |
1138 | 0x55, 0x2a, 0x28, 0x54, 0xa8, 0x48, 0x52, 0xa1, |
1139 | 0x51, 0x4a, 0x85, 0x55, 0x52, 0x15, 0x55, 0x54, |
1139 | 0x51, 0x4a, 0x85, 0x55, 0x52, 0x15, 0x55, 0x54, |
1140 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1140 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1141 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1141 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1142 | 1142 | ||
1143 | // arrow up |
1143 | // arrow up |
1144 | unsigned char cdb[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1144 | unsigned char cdb[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1145 | 0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x54, |
1145 | 0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x54, |
1146 | 0xaa, 0x15, 0x52, 0xaa, 0x85, 0x54, 0x28, 0x15, |
1146 | 0xaa, 0x15, 0x52, 0xaa, 0x85, 0x54, 0x28, 0x15, |
1147 | 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
1147 | 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, |
1148 | 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, |
1148 | 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, |
1149 | 0x28, 0x55, 0x55, 0x41, 0x55, 0x55, 0x55, 0x55, |
1149 | 0x28, 0x55, 0x55, 0x41, 0x55, 0x55, 0x55, 0x55, |
1150 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1150 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1151 | 1151 | ||
1152 | // arrow left-up |
1152 | // arrow left-up |
1153 | unsigned char cdc[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1153 | unsigned char cdc[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1154 | 0x55, 0x40, 0x01, 0x55, 0x2a, 0xa8, 0x55, 0x2a, |
1154 | 0x55, 0x40, 0x01, 0x55, 0x2a, 0xa8, 0x55, 0x2a, |
1155 | 0xa1, 0x55, 0x2a, 0x85, 0x55, 0x2a, 0xa1, 0x55, |
1155 | 0xa1, 0x55, 0x2a, 0x85, 0x55, 0x2a, 0xa1, 0x55, |
1156 | 0x28, 0xa8, 0x55, 0x21, 0x2a, 0x15, 0x45, 0x4a, |
1156 | 0x28, 0xa8, 0x55, 0x21, 0x2a, 0x15, 0x45, 0x4a, |
1157 | 0x85, 0x55, 0x52, 0xa1, 0x55, 0x54, 0x85, 0x55, |
1157 | 0x85, 0x55, 0x52, 0xa1, 0x55, 0x54, 0x85, 0x55, |
1158 | 0x55, 0x15, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1158 | 0x55, 0x15, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1159 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1159 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1160 | 1160 | ||
1161 | // arrow left |
1161 | // arrow left |
1162 | unsigned char cdd[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1162 | unsigned char cdd[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1163 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
1163 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x54, |
1164 | 0x55, 0x55, 0x52, 0x15, 0x55, 0x4a, 0x00, 0x01, |
1164 | 0x55, 0x55, 0x52, 0x15, 0x55, 0x4a, 0x00, 0x01, |
1165 | 0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x4a, 0x00, |
1165 | 0x2a, 0xaa, 0xa8, 0x2a, 0xaa, 0xa8, 0x4a, 0x00, |
1166 | 0x01, 0x52, 0x15, 0x55, 0x54, 0x55, 0x55, 0x55, |
1166 | 0x01, 0x52, 0x15, 0x55, 0x54, 0x55, 0x55, 0x55, |
1167 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1167 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1168 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1168 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1169 | 1169 | ||
1170 | // arrow left-down |
1170 | // arrow left-down |
1171 | unsigned char cde[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1171 | unsigned char cde[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1172 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x15, 0x55, |
1172 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x15, 0x55, |
1173 | 0x54, 0x85, 0x55, 0x52, 0xa1, 0x45, 0x4a, 0x85, |
1173 | 0x54, 0x85, 0x55, 0x52, 0xa1, 0x45, 0x4a, 0x85, |
1174 | 0x21, 0x2a, 0x15, 0x28, 0xa8, 0x55, 0x2a, 0xa1, |
1174 | 0x21, 0x2a, 0x15, 0x28, 0xa8, 0x55, 0x2a, 0xa1, |
1175 | 0x55, 0x2a, 0x85, 0x55, 0x2a, 0xa1, 0x55, 0x2a, |
1175 | 0x55, 0x2a, 0x85, 0x55, 0x2a, 0xa1, 0x55, 0x2a, |
1176 | 0xa8, 0x55, 0x40, 0x01, 0x55, 0x55, 0x55, 0x55, |
1176 | 0xa8, 0x55, 0x40, 0x01, 0x55, 0x55, 0x55, 0x55, |
1177 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1177 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1178 | 1178 | ||
1179 | // arrow down |
1179 | // arrow down |
1180 | unsigned char cdf[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1180 | unsigned char cdf[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1181 | 0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x55, |
1181 | 0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x55, |
1182 | 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, |
1182 | 0x28, 0x55, 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, |
1183 | 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x54, 0x28, |
1183 | 0x55, 0x28, 0x55, 0x55, 0x28, 0x55, 0x54, 0x28, |
1184 | 0x15, 0x52, 0xaa, 0x85, 0x54, 0xaa, 0x15, 0x55, |
1184 | 0x15, 0x52, 0xaa, 0x85, 0x54, 0xaa, 0x15, 0x55, |
1185 | 0x28, 0x55, 0x55, 0x41, 0x55, 0x55, 0x55, 0x55, |
1185 | 0x28, 0x55, 0x55, 0x41, 0x55, 0x55, 0x55, 0x55, |
1186 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1186 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1187 | 1187 | ||
1188 | learn_char(216, cd8); |
1188 | learn_char(216, cd8); |
1189 | learn_char(217, cd9); |
1189 | learn_char(217, cd9); |
1190 | learn_char(218, cda); |
1190 | learn_char(218, cda); |
1191 | learn_char(219, cdb); |
1191 | learn_char(219, cdb); |
1192 | learn_char(220, cdc); |
1192 | learn_char(220, cdc); |
1193 | learn_char(221, cdd); |
1193 | learn_char(221, cdd); |
1194 | learn_char(222, cde); |
1194 | learn_char(222, cde); |
1195 | learn_char(223, cdf); |
1195 | learn_char(223, cdf); |
1196 | #endif |
1196 | #endif |
1197 | #if WRITECHARS == 224 |
1197 | #if WRITECHARS == 224 |
1198 | // arrow right-down |
1198 | // arrow right-down |
1199 | unsigned char ce0[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1199 | unsigned char ce0[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1200 | 0x55, 0x55, 0x55, 0x55, 0x54, 0x55, 0x55, 0x52, |
1200 | 0x55, 0x55, 0x55, 0x55, 0x54, 0x55, 0x55, 0x52, |
1201 | 0x15, 0x55, 0x4a, 0x85, 0x55, 0x52, 0xa1, 0x51, |
1201 | 0x15, 0x55, 0x4a, 0x85, 0x55, 0x52, 0xa1, 0x51, |
1202 | 0x54, 0xa8, 0x48, 0x55, 0x2a, 0x28, 0x55, 0x4a, |
1202 | 0x54, 0xa8, 0x48, 0x55, 0x2a, 0x28, 0x55, 0x4a, |
1203 | 0xa8, 0x55, 0x52, 0xa8, 0x55, 0x4a, 0xa8, 0x55, |
1203 | 0xa8, 0x55, 0x52, 0xa8, 0x55, 0x4a, 0xa8, 0x55, |
1204 | 0x2a, 0xa8, 0x55, 0x40, 0x01, 0x55, 0x55, 0x55, |
1204 | 0x2a, 0xa8, 0x55, 0x40, 0x01, 0x55, 0x55, 0x55, |
1205 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1205 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1206 | 1206 | ||
1207 | // horizon up |
1207 | // horizon up |
1208 | unsigned char ce1[54] ={0x55, 0x55, 0x55, 0x00, 0x00, 0x00, 0xaa, 0xaa, |
1208 | unsigned char ce1[54] ={0x55, 0x55, 0x55, 0x00, 0x00, 0x00, 0xaa, 0xaa, |
1209 | 0xaa, 0xaa, 0xaa, 0xaa, 0x00, 0x00, 0x00, 0x55, |
1209 | 0xaa, 0xaa, 0xaa, 0xaa, 0x00, 0x00, 0x00, 0x55, |
1210 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1210 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1211 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1211 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1212 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1212 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1213 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1213 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1214 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1214 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1215 | 1215 | ||
1216 | // horizon middle |
1216 | // horizon middle |
1217 | unsigned char ce2[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1217 | unsigned char ce2[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1218 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1218 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1219 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x00, |
1219 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x00, 0x00, 0x00, |
1220 | 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0x00, 0x00, |
1220 | 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0x00, 0x00, |
1221 | 0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1221 | 0x00, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1222 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1222 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1223 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1223 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55}; |
1224 | 1224 | ||
1225 | // horizon down |
1225 | // horizon down |
1226 | unsigned char ce3[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1226 | unsigned char ce3[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1227 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1227 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1228 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1228 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1229 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1229 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1230 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x00, |
1230 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x00, |
1231 | 0x00, 0x00, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, |
1231 | 0x00, 0x00, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, 0xaa, |
1232 | 0x00, 0x00, 0x00, 0x55, 0x55, 0x55}; |
1232 | 0x00, 0x00, 0x00, 0x55, 0x55, 0x55}; |
1233 | 1233 | ||
1234 | // horizon center |
1234 | // horizon center |
1235 | unsigned char ce4[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1235 | unsigned char ce4[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1236 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1236 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1237 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1237 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1238 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1238 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1239 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x00, |
1239 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x00, |
1240 | 0x14, 0x00, 0xaa, 0x14, 0xaa, 0xaa, 0x82, 0xaa, |
1240 | 0x14, 0x00, 0xaa, 0x14, 0xaa, 0xaa, 0x82, 0xaa, |
1241 | 0x00, 0xaa, 0x00, 0x54, 0x00, 0x15}; |
1241 | 0x00, 0xaa, 0x00, 0x54, 0x00, 0x15}; |
1242 | 1242 | ||
1243 | // horizon roll |
1243 | // horizon roll |
1244 | unsigned char ce5[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1244 | unsigned char ce5[54] ={0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1245 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1245 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1246 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1246 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1247 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1247 | 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, |
1248 | 0x55, 0x00, 0x55, 0x00, 0x2a, 0x14, 0xa8, 0x4a, |
1248 | 0x55, 0x00, 0x55, 0x00, 0x2a, 0x14, 0xa8, 0x4a, |
1249 | 0x82, 0xa1, 0x52, 0xaa, 0x85, 0x54, 0xaa, 0x15, |
1249 | 0x82, 0xa1, 0x52, 0xaa, 0x85, 0x54, 0xaa, 0x15, |
1250 | 0x55, 0x28, 0x55, 0x55, 0x41, 0x55}; |
1250 | 0x55, 0x28, 0x55, 0x55, 0x41, 0x55}; |
1251 | 1251 | ||
1252 | // gps PH |
1252 | // gps PH |
1253 | unsigned char ce6[54] ={0x55, 0x05, 0x11, 0x54, 0xa0, 0x88, 0x54, 0x88, |
1253 | unsigned char ce6[54] ={0x55, 0x05, 0x11, 0x54, 0xa0, 0x88, 0x54, 0x88, |
1254 | 0x88, 0x54, 0xa0, 0xa8, 0x54, 0x84, 0x88, 0x44, |
1254 | 0x88, 0x54, 0xa0, 0xa8, 0x54, 0x84, 0x88, 0x44, |
1255 | 0x84, 0x88, 0x21, 0x15, 0x11, 0xa8, 0x55, 0x55, |
1255 | 0x84, 0x88, 0x21, 0x15, 0x11, 0xa8, 0x55, 0x55, |
1256 | 0xa1, 0x55, 0x55, 0x98, 0x15, 0x55, 0x2a, 0x85, |
1256 | 0xa1, 0x55, 0x55, 0x98, 0x15, 0x55, 0x2a, 0x85, |
1257 | 0x55, 0x4a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, 0x52, |
1257 | 0x55, 0x4a, 0xa1, 0x55, 0x4a, 0xa8, 0x55, 0x52, |
1258 | 0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
1258 | 0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
1259 | 0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
1259 | 0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
1260 | 1260 | ||
1261 | // gps CH |
1261 | // gps CH |
1262 | unsigned char ce7[54] ={0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x54, |
1262 | unsigned char ce7[54] ={0x55, 0x55, 0x41, 0x55, 0x55, 0x28, 0x55, 0x54, |
1263 | 0x81, 0x55, 0x54, 0x85, 0x55, 0x54, 0x81, 0x45, |
1263 | 0x81, 0x55, 0x54, 0x85, 0x55, 0x54, 0x81, 0x45, |
1264 | 0x55, 0x28, 0x21, 0x55, 0x01, 0xa8, 0x54, 0x88, |
1264 | 0x55, 0x28, 0x21, 0x55, 0x01, 0xa8, 0x54, 0x88, |
1265 | 0xa1, 0x54, 0x88, 0x98, 0x14, 0xa8, 0x2a, 0x84, |
1265 | 0xa1, 0x54, 0x88, 0x98, 0x14, 0xa8, 0x2a, 0x84, |
1266 | 0x88, 0x4a, 0xa0, 0x88, 0x4a, 0xa8, 0x11, 0x52, |
1266 | 0x88, 0x4a, 0xa0, 0x88, 0x4a, 0xa8, 0x11, 0x52, |
1267 | 0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
1267 | 0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
1268 | 0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
1268 | 0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
1269 | 1269 | ||
1270 | learn_char(224, ce0); |
1270 | learn_char(224, ce0); |
1271 | learn_char(225, ce1); |
1271 | learn_char(225, ce1); |
1272 | learn_char(226, ce2); |
1272 | learn_char(226, ce2); |
1273 | learn_char(227, ce3); |
1273 | learn_char(227, ce3); |
1274 | learn_char(228, ce4); |
1274 | learn_char(228, ce4); |
1275 | learn_char(229, ce5); |
1275 | learn_char(229, ce5); |
1276 | learn_char(230, ce6); |
1276 | learn_char(230, ce6); |
1277 | learn_char(231, ce7); |
1277 | learn_char(231, ce7); |
1278 | #endif |
1278 | #endif |
1279 | #endif // write char general |
1279 | #endif // write char general |
1280 | /* ########################################################################## |
1280 | /* ########################################################################## |
1281 | * continue normal main |
1281 | * continue normal main |
1282 | * ##########################################################################*/ |
1282 | * ##########################################################################*/ |
1283 | 1283 | ||
1284 | // Setup Video Mode |
1284 | // Setup Video Mode |
1285 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
1285 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
1286 | // NTSC + enable display immediately (VM0) |
1286 | // NTSC + enable display immediately (VM0) |
1287 | spi_send_byte(0x00, 0b00001000); |
1287 | spi_send_byte(0x00, 0b00001000); |
1288 | } else { |
1288 | } else { |
1289 | // PAL + enable display immediately (VM0) |
1289 | // PAL + enable display immediately (VM0) |
1290 | spi_send_byte(0x00, 0b01001000); |
1290 | spi_send_byte(0x00, 0b01001000); |
1291 | } |
1291 | } |
1292 | 1292 | ||
1293 | // clear all display-mem (DMM) |
1293 | // clear all display-mem (DMM) |
1294 | spi_send_byte(0x04, 0b00000100); |
1294 | spi_send_byte(0x04, 0b00000100); |
1295 | 1295 | ||
1296 | // clearing takes 12uS according to maxim so lets wait longer |
1296 | // clearing takes 12uS according to maxim so lets wait longer |
1297 | _delay_us(120); |
1297 | _delay_us(120); |
1298 | 1298 | ||
1299 | // 8bit mode |
1299 | // 8bit mode |
1300 | spi_send_byte(0x04, 0b01000000); |
1300 | spi_send_byte(0x04, 0b01000000); |
1301 | 1301 | ||
1302 | // write blank chars to whole screen |
1302 | // write blank chars to whole screen |
1303 | clear(); |
1303 | clear(); |
1304 | 1304 | ||
1305 | #if !(ALLCHARSDEBUG|WRITECHARS) |
1305 | #if !(ALLCHARSDEBUG|WRITECHARS) |
1306 | // init usart |
1306 | // init usart |
1307 | usart1_init(); |
1307 | usart1_init(); |
1308 | 1308 | ||
1309 | // set up timer |
1309 | // set up timer |
1310 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
1310 | TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64 |
1311 | OCR0 = 6; // preload |
1311 | OCR0 = 6; // preload |
1312 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
1312 | TIMSK |= (1 << TOIE0); // enable overflow timer0 |
1313 | 1313 | ||
1314 | // enable interrupts |
1314 | // enable interrupts |
1315 | sei(); |
1315 | sei(); |
1316 | #endif |
1316 | #endif |
1317 | 1317 | ||
1318 | //write_ascii_string(2, 7, " CaScAdE "); |
1318 | //write_ascii_string(2, 7, " CaScAdE "); |
1319 | //write_ascii_string(2, 8, "is TESTING his open source"); |
1319 | //write_ascii_string(2, 8, "is TESTING his open source"); |
1320 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
1320 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
1321 | 1321 | ||
1322 | // custom char preview |
1322 | // custom char preview |
1323 | /*write_char_xy( 2, 7, 200); |
1323 | /*write_char_xy( 2, 7, 200); |
1324 | write_char_xy( 3, 7, 201); |
1324 | write_char_xy( 3, 7, 201); |
1325 | write_char_xy( 4, 7, 202); |
1325 | write_char_xy( 4, 7, 202); |
1326 | write_char_xy( 5, 7, 203); |
1326 | write_char_xy( 5, 7, 203); |
1327 | write_char_xy( 6, 7, 204); |
1327 | write_char_xy( 6, 7, 204); |
1328 | write_char_xy( 7, 7, 205); |
1328 | write_char_xy( 7, 7, 205); |
1329 | write_char_xy( 8, 7, 206); |
1329 | write_char_xy( 8, 7, 206); |
1330 | write_char_xy( 9, 7, 207); |
1330 | write_char_xy( 9, 7, 207); |
1331 | write_char_xy(10, 7, 208); |
1331 | write_char_xy(10, 7, 208); |
1332 | write_char_xy(11, 7, 209); |
1332 | write_char_xy(11, 7, 209); |
1333 | write_char_xy(12, 7, 210); |
1333 | write_char_xy(12, 7, 210); |
1334 | write_char_xy(13, 7, 211); |
1334 | write_char_xy(13, 7, 211); |
1335 | write_char_xy(14, 7, 212); |
1335 | write_char_xy(14, 7, 212); |
1336 | write_char_xy(15, 7, 213); |
1336 | write_char_xy(15, 7, 213); |
1337 | write_char_xy(16, 7, 214); |
1337 | write_char_xy(16, 7, 214); |
1338 | write_char_xy(17, 7, 215);*/ |
1338 | write_char_xy(17, 7, 215);*/ |
1339 | 1339 | ||
1340 | // we are ready |
1340 | // we are ready |
1341 | LED3_ON |
1341 | LED3_ON |
1342 | 1342 | ||
1343 | 1343 | ||
1344 | 1344 | ||
1345 | #if ALLCHARSDEBUG | WRITECHARS |
1345 | #if ALLCHARSDEBUG | WRITECHARS |
1346 | clear(); |
1346 | clear(); |
1347 | write_all_chars(); |
1347 | write_all_chars(); |
1348 | #else |
1348 | #else |
1349 | // clear serial screen |
1349 | // clear serial screen |
1350 | //usart1_puts("\x1B[2J\x1B[H"); |
1350 | //usart1_puts("\x1B[2J\x1B[H"); |
1351 | //usart1_puts("hello world!\r\n"); |
1351 | //usart1_puts("hello world!\r\n"); |
1352 | 1352 | ||
1353 | 1353 | ||
1354 | // request data ever 100ms from FC |
1354 | // request data ever 100ms from FC |
1355 | //unsigned char ms = 10; |
1355 | //unsigned char ms = 10; |
1356 | //sendMKData('d', 0, &ms, 1); |
1356 | //sendMKData('d', 0, &ms, 1); |
1357 | 1357 | ||
1358 | // request OSD Data from NC every 100ms |
1358 | // request OSD Data from NC every 100ms |
1359 | unsigned char ms = 10; |
1359 | unsigned char ms = 10; |
1360 | sendMKData('o', 1, &ms, 1); |
1360 | sendMKData('o', 1, &ms, 1); |
1361 | // and disable debug... |
1361 | // and disable debug... |
1362 | //ms = 0; |
1362 | //ms = 0; |
1363 | //sendMKData('d', 0, &ms, 1); |
1363 | //sendMKData('d', 0, &ms, 1); |
1364 | 1364 | ||
1365 | // stats for after flight |
1365 | // stats for after flight |
1366 | int16_t max_Altimeter = 0; |
1366 | int16_t max_Altimeter = 0; |
1367 | uint16_t max_GroundSpeed = 0; |
1367 | uint16_t max_GroundSpeed = 0; |
1368 | int16_t max_Distance = 0; |
1368 | int16_t max_Distance = 0; |
1369 | uint8_t min_UBat = 255; |
1369 | uint8_t min_UBat = 255; |
1370 | uint16_t max_FlyingTime = 0; |
1370 | uint16_t max_FlyingTime = 0; |
1371 | 1371 | ||
1372 | // flags from last round to check for changes |
1372 | // flags from last round to check for changes |
1373 | uint8_t old_MKFlags = 0; |
1373 | uint8_t old_MKFlags = 0; |
1374 | 1374 | ||
1375 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
1375 | char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
1376 | char arrowdir[8] = { 218, 217, 224, 223, 222, 221, 220, 219}; |
1376 | char arrowdir[8] = { 218, 217, 224, 223, 222, 221, 220, 219}; |
1377 | 1377 | ||
1378 | while (1) { |
1378 | while (1) { |
1379 | // write icons at init or after menu/mode-switch |
1379 | // write icons at init or after menu/mode-switch |
1380 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN)) { |
1380 | if (!(COSD_FLAGS & COSD_ICONS_WRITTEN)) { |
1381 | write_char_xy(5, top_line, 203); // km/h |
1381 | write_char_xy(5, top_line, 203); // km/h |
1382 | write_char_xy(10, top_line, 202); // RC-transmitter |
1382 | write_char_xy(10, top_line, 202); // RC-transmitter |
1383 | write_char_xy(16, top_line, 208); // degree symbol |
1383 | write_char_xy(16, top_line, 208); // degree symbol |
1384 | write_char_xy(27, top_line, 204); // small meters m |
1384 | write_char_xy(27, top_line, 204); // small meters m |
1385 | write_ascii_string(6, bottom_line, "V"); // voltage |
1385 | write_ascii_string(6, bottom_line, "V"); // voltage |
1386 | write_char_xy(14, bottom_line, 209); // on clock |
1386 | write_char_xy(14, bottom_line, 209); // on clock |
1387 | write_char_xy(22, bottom_line, 210); // fly clock |
1387 | write_char_xy(22, bottom_line, 210); // fly clock |
1388 | write_char_xy(26, bottom_line, 200); // sat1 |
1388 | write_char_xy(26, bottom_line, 200); // sat1 |
1389 | write_char_xy(27, bottom_line, 201); // sat2 |
1389 | write_char_xy(27, bottom_line, 201); // sat2 |
1390 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
1390 | COSD_FLAGS |= COSD_ICONS_WRITTEN; |
1391 | } |
1391 | } |
1392 | if (rxd_buffer_locked) { |
1392 | if (rxd_buffer_locked) { |
1393 | if (rxd_buffer[2] == 'D') { // FC Data |
1393 | if (rxd_buffer[2] == 'D') { // FC Data |
1394 | /*Decode64(); |
1394 | /*Decode64(); |
1395 | debugData = *((DebugOut_t*) pRxData); |
1395 | debugData = *((DebugOut_t*) pRxData); |
1396 | write_number_s(12, 2, RxDataLen); |
1396 | write_number_s(12, 2, RxDataLen); |
1397 | write_number_s(20, 2, setsReceived++); |
1397 | write_number_s(20, 2, setsReceived++); |
1398 | write_number_s(12, 3, debugData.Analog[0]); |
1398 | write_number_s(12, 3, debugData.Analog[0]); |
1399 | write_number_s(12, 4, debugData.Analog[2]); |
1399 | write_number_s(12, 4, debugData.Analog[2]); |
1400 | write_number_s(12, 5, debugData.Analog[1]); |
1400 | write_number_s(12, 5, debugData.Analog[1]); |
1401 | write_number_s(12, 6, debugData.Analog[3]); |
1401 | write_number_s(12, 6, debugData.Analog[3]); |
1402 | write_number_s(12, 7, debugData.Analog[9]); |
1402 | write_number_s(12, 7, debugData.Analog[9]); |
1403 | write_number_s(12, 8, debugData.Analog[10]); |
1403 | write_number_s(12, 8, debugData.Analog[10]); |
1404 | write_number_s(12, 4, debugData.Analog[12]); |
1404 | write_number_s(12, 4, debugData.Analog[12]); |
1405 | write_number_s(12, 5, debugData.Analog[13]); |
1405 | write_number_s(12, 5, debugData.Analog[13]); |
1406 | write_number_s(12, 6, debugData.Analog[14]); |
1406 | write_number_s(12, 6, debugData.Analog[14]); |
1407 | write_number_s(12, 7, debugData.Analog[15]);*/ |
1407 | write_number_s(12, 7, debugData.Analog[15]);*/ |
1408 | } else if (rxd_buffer[2] == 'O') { // NC OSD Data |
1408 | } else if (rxd_buffer[2] == 'O') { // NC OSD Data |
1409 | Decode64(); |
1409 | Decode64(); |
1410 | naviData = *((NaviData_t*) pRxData); |
1410 | naviData = *((NaviData_t*) pRxData); |
1411 | 1411 | ||
1412 | // first line |
1412 | // first line |
1413 | write_3digit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed*36)/1000)); |
1413 | write_3digit_number_u(2, top_line, (uint16_t)(((uint32_t)naviData.GroundSpeed*36)/1000)); |
1414 | 1414 | ||
1415 | write_3digit_number_u(7, top_line, naviData.RC_Quality); |
1415 | write_3digit_number_u(7, top_line, naviData.RC_Quality); |
1416 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
1416 | if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
1417 | for (uint8_t x = 0; x < 4; x++) |
1417 | for (uint8_t x = 0; x < 4; x++) |
1418 | write_char_att_xy(7 + x, top_line, BLINK); |
1418 | write_char_att_xy(7 + x, top_line, BLINK); |
1419 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
1419 | } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) { |
1420 | for (uint8_t x = 0; x < 4; x++) |
1420 | for (uint8_t x = 0; x < 4; x++) |
1421 | write_char_att_xy(7 + x, top_line, 0); |
1421 | write_char_att_xy(7 + x, top_line, 0); |
1422 | } |
1422 | } |
1423 | last_RC_Quality = naviData.RC_Quality; |
1423 | last_RC_Quality = naviData.RC_Quality; |
1424 | 1424 | ||
1425 | write_3digit_number_u(13, top_line, naviData.CompassHeading); |
1425 | write_3digit_number_u(13, top_line, naviData.CompassHeading); |
1426 | 1426 | ||
1427 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
1427 | write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]); |
1428 | 1428 | ||
1429 | if (naviData.Variometer == 0) { |
1429 | if (naviData.Variometer == 0) { |
1430 | write_char_xy(20, top_line, 206); // plain line |
1430 | write_char_xy(20, top_line, 206); // plain line |
1431 | } else if (naviData.Variometer > 0) { |
1431 | } else if (naviData.Variometer > 0) { |
1432 | write_char_xy(20, top_line, 207); // arrow up |
1432 | write_char_xy(20, top_line, 207); // arrow up |
1433 | } else { |
1433 | } else { |
1434 | write_char_xy(20, top_line, 205); // arrow down |
1434 | write_char_xy(20, top_line, 205); // arrow down |
1435 | } |
1435 | } |
1436 | 1436 | ||
1437 | // TODO: is this really dm? |
1437 | // TODO: is this really dm? |
1438 | write_number_s(22, top_line, naviData.Altimeter/10); |
1438 | write_number_s(22, top_line, naviData.Altimeter/10); |
1439 | 1439 | ||
1440 | // seccond line |
1440 | // seccond line |
1441 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
1441 | draw_compass(11, top_line + 1, naviData.CompassHeading); |
1442 | 1442 | ||
1443 | // TODO: verify correctness |
1443 | // TODO: verify correctness |
1444 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
1444 | uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360; |
1445 | write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]); |
1445 | write_char_xy(27, top_line + 1, arrowdir[heading_conv(heading_home)]); |
1446 | 1446 | ||
1447 | 1447 | ||
1448 | write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance); |
1448 | write_number_s(22, top_line + 1, naviData.HomePositionDeviation.Distance/100); |
1449 | 1449 | ||
1450 | // center |
1450 | // center |
1451 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
1451 | if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running |
1452 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
1452 | if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle |
1453 | clear(); |
1453 | clear(); |
1454 | // update flags to paint display again if needed |
1454 | // update flags to paint display again if needed |
1455 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
1455 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
1456 | } |
1456 | } |
1457 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
1457 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
1458 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
1458 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
1459 | } |
1459 | } |
1460 | } else { |
1460 | } else { |
1461 | // stats |
1461 | // stats |
1462 | write_ascii_string(2, 5, "max Altitude:"); |
1462 | write_ascii_string(2, 5, "max Altitude:"); |
1463 | write_number_s(17, 5, max_Altimeter/10); |
1463 | write_number_s(17, 5, max_Altimeter/10); |
1464 | write_char_xy(22, 5, 204); // small meters m |
1464 | write_char_xy(22, 5, 204); // small meters m |
1465 | write_ascii_string(2, 6, "max Speed :"); |
1465 | write_ascii_string(2, 6, "max Speed :"); |
1466 | write_3digit_number_u(19, 6, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000)); |
1466 | write_3digit_number_u(19, 6, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000)); |
1467 | write_char_xy(22, 6, 203); // km/h |
1467 | write_char_xy(22, 6, 203); // km/h |
1468 | write_ascii_string(2, 7, "max Distance:"); |
1468 | write_ascii_string(2, 7, "max Distance:"); |
1469 | write_number_s(17, 7, max_Distance/100); |
1469 | write_number_s(17, 7, max_Distance/100); |
1470 | write_char_xy(22, 7, 204); // small meters m |
1470 | write_char_xy(22, 7, 204); // small meters m |
1471 | write_ascii_string(2, 8, "min voltage :"); |
1471 | write_ascii_string(2, 8, "min voltage :"); |
1472 | //write_number_s(17, 8, min_UBat/10); |
1472 | //write_number_s(17, 8, min_UBat/10); |
1473 | write_number_u_10th(16, 8, min_UBat); |
1473 | write_number_u_10th(16, 8, min_UBat); |
1474 | write_ascii_string(22, 8, "V"); // voltage |
1474 | write_ascii_string(22, 8, "V"); // voltage |
1475 | write_ascii_string(2, 9, "max time :"); |
1475 | write_ascii_string(2, 9, "max time :"); |
1476 | write_number_s(17, 9, max_FlyingTime); |
1476 | write_time(16, 9, max_FlyingTime); |
1477 | write_char_xy(22, 9, 210); // fly clock |
1477 | write_char_xy(22, 9, 210); // fly clock |
1478 | } |
1478 | } |
1479 | 1479 | ||
1480 | // bottom line |
1480 | // bottom line |
1481 | write_number_u_10th(0, bottom_line, naviData.UBat); |
1481 | write_number_u_10th(0, bottom_line, naviData.UBat); |
1482 | if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) { |
1482 | if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) { |
1483 | for (uint8_t x = 0; x < 7; x++) |
1483 | for (uint8_t x = 0; x < 7; x++) |
1484 | write_char_att_xy(x, bottom_line, BLINK); |
1484 | write_char_att_xy(x, bottom_line, BLINK); |
1485 | } else { |
1485 | } else { |
1486 | for (uint8_t x = 0; x < 7; x++) |
1486 | for (uint8_t x = 0; x < 7; x++) |
1487 | write_char_att_xy(x, bottom_line, 0); |
1487 | write_char_att_xy(x, bottom_line, 0); |
1488 | } |
1488 | } |
1489 | 1489 | ||
1490 | write_time(8, bottom_line, uptime); |
1490 | write_time(8, bottom_line, uptime); |
1491 | write_time(16, bottom_line, naviData.FlyingTime); |
1491 | write_time(16, bottom_line, naviData.FlyingTime); |
1492 | 1492 | ||
1493 | write_3digit_number_u(23, bottom_line, naviData.SatsInUse); |
1493 | write_3digit_number_u(23, bottom_line, naviData.SatsInUse); |
1494 | 1494 | ||
1495 | if (naviData.NCFlags & NC_FLAG_CH) { |
1495 | if (naviData.NCFlags & NC_FLAG_CH) { |
1496 | write_char_xy(27, bottom_line, 231); // gps ch |
1496 | write_char_xy(27, bottom_line, 231); // gps ch |
1497 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
1497 | } else if (naviData.NCFlags & NC_FLAG_PH) { |
1498 | write_char_xy(27, bottom_line, 230); // gps ph |
1498 | write_char_xy(27, bottom_line, 230); // gps ph |
1499 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
1499 | } else { // (naviData.NCFlags & NC_FLAG_FREE) |
1500 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
1500 | write_char_xy(27, bottom_line, 201); // sat2 (free) |
1501 | } |
1501 | } |
1502 | 1502 | ||
1503 | //write_number_s(8, 5, RxDataLen); |
1503 | //write_number_s(8, 5, RxDataLen); |
1504 | //write_number_s(16, 5, setsReceived++); |
1504 | //write_number_s(16, 5, setsReceived++); |
1505 | 1505 | ||
1506 | // remember statistics |
1506 | // remember statistics |
1507 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
1507 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
1508 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
1508 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
1509 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
1509 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
1510 | max_Distance = naviData.HomePositionDeviation.Distance; |
1510 | max_Distance = naviData.HomePositionDeviation.Distance; |
1511 | } |
1511 | } |
1512 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
1512 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
1513 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
1513 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
1514 | 1514 | ||
1515 | old_MKFlags = naviData.MKFlags; |
1515 | old_MKFlags = naviData.MKFlags; |
1516 | } |
1516 | } |
1517 | rxd_buffer_locked = 0; |
1517 | rxd_buffer_locked = 0; |
1518 | } |
1518 | } |
1519 | // handle keypress |
1519 | // handle keypress |
1520 | if (s1_pressed()) { |
1520 | if (s1_pressed()) { |
1521 | //sendMKData('d', 1, (unsigned char*) 0, 1); |
1521 | //sendMKData('d', 1, (unsigned char*) 0, 1); |
1522 | // request OSD Data from NC every 100ms |
1522 | // request OSD Data from NC every 100ms |
1523 | /*unsigned char ms = 10; |
1523 | /*unsigned char ms = 10; |
1524 | sendMKData('o', 1, &ms, 1); |
1524 | sendMKData('o', 1, &ms, 1); |
1525 | _delay_ms(500);*/ |
1525 | _delay_ms(500);*/ |
1526 | config_menu(); |
1526 | config_menu(); |
1527 | } |
1527 | } |
1528 | if (s2_pressed()) { |
1528 | if (s2_pressed()) { |
1529 | uptime = 0; |
1529 | uptime = 0; |
1530 | _delay_ms(100); |
1530 | _delay_ms(100); |
1531 | } |
1531 | } |
1532 | } |
1532 | } |
1533 | #endif |
1533 | #endif |
1534 | return 0; |
1534 | return 0; |
1535 | } |
1535 | } |
1536 | 1536 |