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1 | /**************************************************************************** |
1 | /**************************************************************************** |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
2 | * Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje * |
3 | * admiralcascade@gmail.com * |
3 | * admiralcascade@gmail.com * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
4 | * Project-URL: http://www.mylifesucks.de/oss/c-osd/ * |
5 | * * |
5 | * * |
6 | * This program is free software; you can redistribute it and/or modify * |
6 | * This program is free software; you can redistribute it and/or modify * |
7 | * it under the terms of the GNU General Public License as published by * |
7 | * it under the terms of the GNU General Public License as published by * |
8 | * the Free Software Foundation; either version 2 of the License. * |
8 | * the Free Software Foundation; either version 2 of the License. * |
9 | * * |
9 | * * |
10 | * This program is distributed in the hope that it will be useful, * |
10 | * This program is distributed in the hope that it will be useful, * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
13 | * GNU General Public License for more details. * |
13 | * GNU General Public License for more details. * |
14 | * * |
14 | * * |
15 | * You should have received a copy of the GNU General Public License * |
15 | * You should have received a copy of the GNU General Public License * |
16 | * along with this program; if not, write to the * |
16 | * along with this program; if not, write to the * |
17 | * Free Software Foundation, Inc., * |
17 | * Free Software Foundation, Inc., * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
18 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
19 | * * |
19 | * * |
20 | * * |
20 | * * |
21 | * Credits to: * |
21 | * Credits to: * |
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
22 | * Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN * |
23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
23 | * Gregor "killagreg" Stobrawa for making the MK code readable * |
24 | * Klaus "akku" Buettner for the hardware * |
24 | * Klaus "akku" Buettner for the hardware * |
25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
25 | * Manuel "KeyOz" Schrape for explaining the MK protocol to me * |
26 | ****************************************************************************/ |
26 | ****************************************************************************/ |
27 | 27 | ||
28 | #include <avr/io.h> |
28 | #include <avr/io.h> |
29 | #include <avr/interrupt.h> |
29 | #include <avr/interrupt.h> |
30 | #include <util/delay.h> |
30 | #include <util/delay.h> |
31 | #include <avr/pgmspace.h> |
31 | #include <avr/pgmspace.h> |
32 | #include "main.h" |
32 | #include "main.h" |
33 | #include "max7456_software_spi.h" |
33 | #include "max7456_software_spi.h" |
34 | #include "usart1.h" |
34 | #include "usart1.h" |
35 | #include "osd_helpers.h" |
35 | #include "osd_helpers.h" |
36 | #include "config.h" |
36 | #include "config.h" |
37 | #include "spi.h" |
37 | #include "spi.h" |
38 | #include "buttons.h" |
38 | #include "buttons.h" |
39 | #include "ppm.h" |
39 | #include "ppm.h" |
40 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
40 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
41 | #include "osd_ncmode_default.h" |
41 | #include "osd_ncmode_default.h" |
42 | #include "osd_ncmode_minimal.h" |
42 | #include "osd_ncmode_minimal.h" |
43 | #include "osd_fcmode_default.h" |
43 | #include "osd_fcmode_default.h" |
44 | #endif |
44 | #endif |
45 | 45 | ||
46 | /* TODO: |
46 | /* TODO: |
47 | * - verifiy correctness of values |
47 | * - verifiy correctness of values |
48 | * - clean up code :) |
48 | * - clean up code :) |
49 | */ |
49 | */ |
50 | 50 | ||
51 | 51 | ||
52 | /* ########################################################################## |
52 | /* ########################################################################## |
53 | * global definitions and global vars |
53 | * global definitions and global vars |
54 | * ##########################################################################*/ |
54 | * ##########################################################################*/ |
55 | 55 | ||
56 | volatile uint16_t setsReceived = 0; |
56 | volatile uint16_t setsReceived = 0; |
57 | 57 | ||
58 | volatile NaviData_t naviData; |
58 | volatile NaviData_t naviData; |
59 | volatile DebugOut_t debugData; |
59 | volatile DebugOut_t debugData; |
60 | 60 | ||
61 | // cache old vars for blinking attribute, checkup is faster than full |
61 | // cache old vars for blinking attribute, checkup is faster than full |
62 | // attribute write each time |
62 | // attribute write each time |
63 | volatile uint8_t last_UBat = 255; |
63 | volatile uint8_t last_UBat = 255; |
64 | volatile uint8_t last_RC_Quality = 255; |
64 | volatile uint8_t last_RC_Quality = 255; |
65 | 65 | ||
66 | // 16bit should be enough, normal LiPos don't last that long |
66 | // 16bit should be enough, normal LiPos don't last that long |
67 | volatile uint16_t uptime = 0; |
67 | volatile uint16_t uptime = 0; |
68 | volatile uint16_t timer = 0; |
68 | volatile uint16_t timer = 0; |
69 | 69 | ||
70 | // remember last time data was received |
70 | // remember last time data was received |
71 | volatile uint8_t seconds_since_last_data = 0; |
71 | volatile uint8_t seconds_since_last_data = 0; |
72 | 72 | ||
73 | // general PAL|NTSC distingiusch stuff |
73 | // general PAL|NTSC distingiusch stuff |
74 | uint8_t top_line = 1; |
74 | uint8_t top_line = 1; |
75 | uint8_t bottom_line = 14; |
75 | uint8_t bottom_line = 14; |
76 | 76 | ||
77 | // battery voltages |
77 | // battery voltages |
78 | uint8_t min_voltage = 0; |
78 | uint8_t min_voltage = 0; |
79 | uint8_t max_voltage = 0; |
79 | uint8_t max_voltage = 0; |
80 | 80 | ||
81 | // Flags |
81 | // Flags |
82 | uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0; |
82 | uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0; |
83 | 83 | ||
84 | // stats for after flight |
84 | // stats for after flight |
85 | int16_t max_Altimeter = 0; |
85 | int16_t max_Altimeter = 0; |
86 | uint8_t min_UBat = 255; |
86 | uint8_t min_UBat = 255; |
87 | uint16_t max_GroundSpeed = 0; |
87 | uint16_t max_GroundSpeed = 0; |
88 | int16_t max_Distance = 0; |
88 | int16_t max_Distance = 0; |
89 | uint16_t max_FlyingTime = 0; |
89 | uint16_t max_FlyingTime = 0; |
90 | 90 | ||
91 | // flags from last round to check for changes |
91 | // flags from last round to check for changes |
92 | uint8_t old_MKFlags = 0; |
92 | uint8_t old_MKFlags = 0; |
93 | 93 | ||
94 | // store stats description in progmem to save space |
94 | // store stats description in progmem to save space |
95 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
95 | const char stats_item_0[] PROGMEM = "max Altitude:"; |
96 | const char stats_item_1[] PROGMEM = "max Speed :"; |
96 | const char stats_item_1[] PROGMEM = "max Speed :"; |
97 | const char stats_item_2[] PROGMEM = "max Distance:"; |
97 | const char stats_item_2[] PROGMEM = "max Distance:"; |
98 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
98 | const char stats_item_3[] PROGMEM = "min Voltage :"; |
99 | const char stats_item_4[] PROGMEM = "max Time :"; |
99 | const char stats_item_4[] PROGMEM = "max Time :"; |
100 | const char stats_item_5[] PROGMEM = "longitude :"; |
100 | const char stats_item_5[] PROGMEM = "longitude :"; |
101 | const char stats_item_6[] PROGMEM = "latitude :"; |
101 | const char stats_item_6[] PROGMEM = "latitude :"; |
102 | const char stats_item_7[] PROGMEM = "max current :"; |
102 | const char stats_item_7[] PROGMEM = "max current :"; |
103 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
103 | const char *stats_item_pointers[8] PROGMEM = {stats_item_0, stats_item_1, stats_item_2, |
104 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
104 | stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7}; |
105 | 105 | ||
106 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
106 | //char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "}; |
107 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
107 | //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219}; |
108 | const char str_NE[] PROGMEM = "NE"; |
108 | const char str_NE[] PROGMEM = "NE"; |
109 | const char str_E[] PROGMEM = "E "; |
109 | const char str_E[] PROGMEM = "E "; |
110 | const char str_SE[] PROGMEM = "SE"; |
110 | const char str_SE[] PROGMEM = "SE"; |
111 | const char str_S[] PROGMEM = "S "; |
111 | const char str_S[] PROGMEM = "S "; |
112 | const char str_SW[] PROGMEM = "SW"; |
112 | const char str_SW[] PROGMEM = "SW"; |
113 | const char str_W[] PROGMEM = "W "; |
113 | const char str_W[] PROGMEM = "W "; |
114 | const char str_NW[] PROGMEM = "NW"; |
114 | const char str_NW[] PROGMEM = "NW"; |
115 | const char str_N[] PROGMEM = "N "; |
115 | const char str_N[] PROGMEM = "N "; |
116 | const char *directions[8] PROGMEM = { |
116 | const char *directions[8] PROGMEM = { |
117 | str_NE, |
117 | str_NE, |
118 | str_E, |
118 | str_E, |
119 | str_SE, |
119 | str_SE, |
120 | str_S, |
120 | str_S, |
121 | str_SW, |
121 | str_SW, |
122 | str_W, |
122 | str_W, |
123 | str_NW, |
123 | str_NW, |
124 | str_N}; |
124 | str_N}; |
125 | 125 | ||
126 | /* ########################################################################## |
126 | /* ########################################################################## |
127 | * Different display mode function pointers |
127 | * Different display mode function pointers |
128 | * ##########################################################################*/ |
128 | * ##########################################################################*/ |
129 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
129 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
130 | const char str_1[] PROGMEM = "default"; |
130 | const char str_1[] PROGMEM = "default"; |
131 | const char str_2[] PROGMEM = "minimal"; |
131 | const char str_2[] PROGMEM = "minimal"; |
132 | 132 | ||
133 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
133 | const displaymode_t ncdisplaymodes[] PROGMEM = { |
134 | { osd_ncmode_default, (char *)str_1 }, |
134 | { osd_ncmode_default, (char *)str_1 }, |
135 | { osd_ncmode_minimal, (char *)str_2 } |
135 | { osd_ncmode_minimal, (char *)str_2 } |
136 | }; |
136 | }; |
137 | 137 | ||
138 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
138 | const displaymode_t fcdisplaymodes[] PROGMEM = { |
139 | { osd_fcmode_default, (char *)str_1 }, |
139 | { osd_fcmode_default, (char *)str_1 }, |
140 | }; |
140 | }; |
141 | 141 | ||
142 | int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default; |
142 | int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default; |
143 | int (*osd_fcmode)(void) = (int(*)(void)) &osd_ncmode_default; |
143 | int (*osd_fcmode)(void) = (int(*)(void)) &osd_ncmode_default; |
144 | #endif |
144 | #endif |
145 | 145 | ||
146 | /* ########################################################################## |
146 | /* ########################################################################## |
147 | * Interrupt handler |
147 | * Interrupt handler |
148 | * ##########################################################################*/ |
148 | * ##########################################################################*/ |
149 | 149 | ||
150 | /** |
150 | /** |
151 | * handler for undefined Interrupts |
151 | * handler for undefined Interrupts |
152 | * if not defined AVR will reset in case any unhandled interrupts occur |
152 | * if not defined AVR will reset in case any unhandled interrupts occur |
153 | */ |
153 | */ |
154 | ISR(__vector_default) { |
154 | ISR(__vector_default) { |
155 | asm("nop"); |
155 | asm("nop"); |
156 | } |
156 | } |
157 | 157 | ||
158 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
158 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
159 | /* ########################################################################## |
159 | /* ########################################################################## |
160 | * timer stuff |
160 | * timer stuff |
161 | * ##########################################################################*/ |
161 | * ##########################################################################*/ |
162 | 162 | ||
163 | /** |
163 | /** |
164 | * timer kicks in every 1000uS ^= 1ms |
164 | * timer kicks in every 1000uS ^= 1ms |
165 | */ |
165 | */ |
166 | ISR(TIMER0_COMP_vect) { |
166 | ISR(TIMER0_COMP_vect) { |
167 | if (!timer--) { |
167 | if (!timer--) { |
168 | uptime++; |
168 | uptime++; |
169 | timer = 999; |
169 | timer = 999; |
170 | seconds_since_last_data++; |
170 | seconds_since_last_data++; |
171 | } |
171 | } |
172 | // in case there is still some spi data to send do it now |
172 | // in case there is still some spi data to send do it now |
173 | if (spi_ready && icnt) { |
173 | if (spi_ready && icnt) { |
174 | SPDR = *iptr; |
174 | SPDR = *iptr; |
175 | } |
175 | } |
176 | } |
176 | } |
177 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
177 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
178 | 178 | ||
179 | /* ########################################################################## |
179 | /* ########################################################################## |
180 | * MAIN |
180 | * MAIN |
181 | * ##########################################################################*/ |
181 | * ##########################################################################*/ |
182 | int main(void) { |
182 | int main(void) { |
183 | 183 | ||
184 | // set up FLAGS, compiler should flatten this one |
184 | // set up FLAGS, compiler should flatten this one |
185 | COSD_FLAGS = (NTSC << 0); |
185 | COSD_FLAGS = (NTSC << 0); |
186 | COSD_FLAGS |= (HUD << 1); |
186 | COSD_FLAGS |= (HUD << 1); |
187 | COSD_FLAGS |= (ARTHORIZON << 2); |
187 | COSD_FLAGS |= (ARTHORIZON << 2); |
188 | COSD_FLAGS |= (BIGVARIO << 3); |
188 | COSD_FLAGS |= (BIGVARIO << 3); |
189 | COSD_FLAGS |= (STATS << 4); |
189 | COSD_FLAGS |= (STATS << 4); |
190 | COSD_FLAGS |= (WARNINGS << 5); |
190 | COSD_FLAGS |= (WARNINGS << 5); |
191 | 191 | ||
192 | // set up Atmega162 Ports |
192 | // set up Atmega162 Ports |
193 | DDRA |= (1 << PA1); // PA1 output (/CS) |
193 | DDRA |= (1 << PA1); // PA1 output (/CS) |
194 | MAX_CS_HIGH |
194 | MAX_CS_HIGH |
195 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
195 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
196 | MAX_SDIN_LOW |
196 | MAX_SDIN_LOW |
197 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
197 | DDRA |= (1 << PA3); // PA3 output (SCLK) |
198 | MAX_SCLK_LOW |
198 | MAX_SCLK_LOW |
199 | DDRA |= (1 << PA5); // PA5 output (RESET) |
199 | DDRA |= (1 << PA5); // PA5 output (RESET) |
200 | MAX_RESET_HIGH |
200 | MAX_RESET_HIGH |
201 | 201 | ||
202 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
202 | DDRC |= (1 << PC0); // PC0 output (LED1 gn) |
203 | LED1_OFF |
203 | LED1_OFF |
204 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
204 | DDRC |= (1 << PC1); // PC1 output (LED2 rt) |
205 | LED2_OFF |
205 | LED2_OFF |
206 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
206 | DDRC |= (1 << PC2); // PC2 output (LED3 gn) |
207 | LED3_OFF |
207 | LED3_OFF |
208 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
208 | DDRC |= (1 << PC3); // PC3 output (LED4 rt) |
209 | LED4_OFF |
209 | LED4_OFF |
210 | 210 | ||
211 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
211 | DDRC &= ~(1 << PC4); // PC4 input (MODE) |
212 | PORTC |= (1 << PC4); // pullup |
212 | PORTC |= (1 << PC4); // pullup |
213 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
213 | DDRC &= ~(1 << PC5); // PC5 input (SET) |
214 | PORTC |= (1 << PC5); // pullup |
214 | PORTC |= (1 << PC5); // pullup |
215 | 215 | ||
216 | // reset the MAX7456 to be sure any undefined states do no harm |
216 | // reset the MAX7456 to be sure any undefined states do no harm |
217 | MAX_RESET_LOW |
217 | MAX_RESET_LOW |
218 | MAX_RESET_HIGH |
218 | MAX_RESET_HIGH |
219 | 219 | ||
220 | // give the FC/NC and the maxim time to come up |
220 | // give the FC/NC and the maxim time to come up |
221 | LED4_ON |
221 | LED4_ON |
222 | _delay_ms(2000); |
222 | _delay_ms(2000); |
223 | LED4_OFF |
223 | LED4_OFF |
224 | 224 | ||
225 | //Pushing NEW chars to the MAX7456 |
225 | //Pushing NEW chars to the MAX7456 |
226 | #if (WRITECHARS != -1) |
226 | #if (WRITECHARS != -1) |
227 | // DISABLE display (VM0) |
227 | // DISABLE display (VM0) |
228 | spi_send_byte(0x00, 0b00000000); |
228 | spi_send_byte(0x00, 0b00000000); |
229 | #include "characters.c" |
229 | #include "characters.c" |
230 | #else |
230 | #else |
231 | // read out config for NTSC/PAL distinguishing |
231 | // read out config for NTSC/PAL distinguishing |
232 | get_eeprom(0); |
232 | get_eeprom(0); |
233 | #endif |
233 | #endif |
234 | 234 | ||
235 | // Setup Video Mode |
235 | // Setup Video Mode |
236 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
236 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
237 | // NTSC + enable display immediately (VM0) |
237 | // NTSC + enable display immediately (VM0) |
238 | spi_send_byte(0x00, 0b00001000); |
238 | spi_send_byte(0x00, 0b00001000); |
239 | 239 | ||
240 | bottom_line = 12; |
240 | bottom_line = 12; |
241 | } else { |
241 | } else { |
242 | // PAL + enable display immediately (VM0) |
242 | // PAL + enable display immediately (VM0) |
243 | spi_send_byte(0x00, 0b01001000); |
243 | spi_send_byte(0x00, 0b01001000); |
244 | 244 | ||
245 | bottom_line = 14; |
245 | bottom_line = 14; |
246 | } |
246 | } |
247 | 247 | ||
248 | /*// clear all display-mem (DMM) |
248 | /*// clear all display-mem (DMM) |
249 | spi_send_byte(0x04, 0b00000100); |
249 | spi_send_byte(0x04, 0b00000100); |
250 | 250 | ||
251 | // clearing takes 12uS according to maxim so lets wait longer |
251 | // clearing takes 12uS according to maxim so lets wait longer |
252 | _delay_us(120); |
252 | _delay_us(120); |
253 | 253 | ||
254 | // 8bit mode |
254 | // 8bit mode |
255 | spi_send_byte(0x04, 0b01000000);*/ |
255 | spi_send_byte(0x04, 0b01000000);*/ |
256 | 256 | ||
257 | // clear display memory and set to 8bit mode |
257 | // clear display memory and set to 8bit mode |
258 | clear(); |
258 | clear(); |
259 | 259 | ||
260 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
260 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
261 | // init usart |
261 | // init usart |
262 | usart1_init(); |
262 | usart1_init(); |
263 | 263 | ||
264 | // set up timer |
264 | // set up timer |
265 | // CTC, Prescaler /64 |
265 | // CTC, Prescaler /64 |
266 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
266 | TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00); |
267 | 267 | ||
268 | TCNT0 = 0; |
268 | TCNT0 = 0; |
269 | OCR0 = 250; |
269 | OCR0 = 250; |
270 | 270 | ||
271 | // enable timer output compare interrupt |
271 | // enable timer output compare interrupt |
272 | TIMSK &= ~(1 << TOIE0); |
272 | TIMSK &= ~(1 << TOIE0); |
273 | TIMSK |= (1 << OCIE0); |
273 | TIMSK |= (1 << OCIE0); |
274 | 274 | ||
275 | // SPI setup |
275 | // SPI setup |
276 | DDRD |= (1 << PD2); // PD2 output (INT0) |
276 | DDRD |= (1 << PD2); // PD2 output (INT0) |
277 | SpiMasterInit(); |
277 | SpiMasterInit(); |
278 | 278 | ||
279 | // PPM detection setup |
279 | // PPM detection setup |
280 | ppm_init(); |
280 | ppm_init(); |
281 | 281 | ||
282 | // enable interrupts |
282 | // enable interrupts |
283 | 283 | ||
284 | sei(); |
284 | sei(); |
285 | #endif |
285 | #endif |
286 | 286 | ||
287 | //write_ascii_string(2, 7, " CaScAdE "); |
287 | //write_ascii_string(2, 7, " CaScAdE "); |
288 | //write_ascii_string(2, 8, "is TESTING his open source"); |
288 | //write_ascii_string(2, 8, "is TESTING his open source"); |
289 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
289 | //write_ascii_string(2, 9, " EPi OSD Firmware"); |
290 | 290 | ||
291 | // we are ready |
291 | // we are ready |
292 | LED3_ON |
292 | LED3_ON |
293 | 293 | ||
294 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
294 | #if ALLCHARSDEBUG | (WRITECHARS != -1) |
295 | clear(); |
295 | clear(); |
296 | write_all_chars(); |
296 | write_all_chars(); |
- | 297 | LED1_ON |
|
- | 298 | LED2_ON |
|
- | 299 | LED3_ON |
|
- | 300 | LED4_ON |
|
297 | #else |
301 | #else |
298 | 302 | ||
299 | // clear serial screen |
303 | // clear serial screen |
300 | //usart1_puts("\x1B[2J\x1B[H"); |
304 | //usart1_puts("\x1B[2J\x1B[H"); |
301 | //usart1_puts("hello world!123\r\n"); |
305 | //usart1_puts("hello world!123\r\n"); |
302 | 306 | ||
303 | #if FCONLY |
307 | #if FCONLY |
304 | // request data ever 100ms from FC; |
308 | // request data ever 100ms from FC; |
305 | usart1_request_mk_data(0, 'd', 100); |
309 | usart1_request_mk_data(0, 'd', 100); |
306 | #else |
310 | #else |
307 | // request OSD Data from NC every 100ms |
311 | // request OSD Data from NC every 100ms |
308 | usart1_request_mk_data(1, 'o', 100); |
312 | usart1_request_mk_data(1, 'o', 100); |
309 | 313 | ||
310 | // and disable debug... |
314 | // and disable debug... |
311 | usart1_request_mk_data(0, 'd', 0); |
315 | usart1_request_mk_data(0, 'd', 0); |
312 | #endif |
316 | #endif |
313 | 317 | ||
314 | while (1) { |
318 | while (1) { |
315 | // in case SPI is ready and there is nothing to send right now |
319 | // in case SPI is ready and there is nothing to send right now |
316 | if (!icnt && spi_ready) { |
320 | if (!icnt && spi_ready) { |
317 | // correct transfer ends with d (done) |
321 | // correct transfer ends with d (done) |
318 | if (spi_cmd_buffer[0] == 'd') { |
322 | if (spi_cmd_buffer[0] == 'd') { |
319 | ampere = spi_cmd_buffer[1] << 8; |
323 | ampere = spi_cmd_buffer[1] << 8; |
320 | ampere |= spi_cmd_buffer[2]; |
324 | ampere |= spi_cmd_buffer[2]; |
321 | ampere_wasted = spi_cmd_buffer[3]; |
325 | ampere_wasted = spi_cmd_buffer[3]; |
322 | ampere_wasted = ampere_wasted << 8; |
326 | ampere_wasted = ampere_wasted << 8; |
323 | ampere_wasted |= spi_cmd_buffer[4]; |
327 | ampere_wasted |= spi_cmd_buffer[4]; |
324 | ampere_wasted = ampere_wasted << 8; |
328 | ampere_wasted = ampere_wasted << 8; |
325 | ampere_wasted |= spi_cmd_buffer[5]; |
329 | ampere_wasted |= spi_cmd_buffer[5]; |
326 | ampere_wasted = ampere_wasted << 8; |
330 | ampere_wasted = ampere_wasted << 8; |
327 | ampere_wasted |= spi_cmd_buffer[6]; |
331 | ampere_wasted |= spi_cmd_buffer[6]; |
328 | //ampere = *((int16_t *) spi_cmd_buffer + 1); |
332 | //ampere = *((int16_t *) spi_cmd_buffer + 1); |
329 | //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3); |
333 | //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3); |
330 | // if this is the first receival we should print the small A |
334 | // if this is the first receival we should print the small A |
331 | if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) { |
335 | if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) { |
332 | clear(); |
336 | clear(); |
333 | COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN; |
337 | COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN; |
334 | // update this flag |
338 | // update this flag |
335 | COSD_FLAGS2 |= COSD_FLAG_STROMREC; |
339 | COSD_FLAGS2 |= COSD_FLAG_STROMREC; |
336 | } |
340 | } |
337 | //write_ascii_char(8+4*30, 'v'); // valid |
341 | //write_ascii_char(8+4*30, 'v'); // valid |
338 | } else { |
342 | } else { |
339 | // update flags |
343 | // update flags |
340 | COSD_FLAGS2 &= ~COSD_FLAG_STROMREC; |
344 | COSD_FLAGS2 &= ~COSD_FLAG_STROMREC; |
341 | //write_ascii_char(8+4*30, 'i'); // invalid |
345 | //write_ascii_char(8+4*30, 'i'); // invalid |
342 | } |
346 | } |
343 | spi_cmd_buffer[0] = 'A'; |
347 | spi_cmd_buffer[0] = 'A'; |
344 | spi_cmd_buffer[1] = 'B'; |
348 | spi_cmd_buffer[1] = 'B'; |
345 | spi_cmd_buffer[2] = 'C'; |
349 | spi_cmd_buffer[2] = 'C'; |
346 | spi_cmd_buffer[3] = 'D'; |
350 | spi_cmd_buffer[3] = 'D'; |
347 | spi_cmd_buffer[4] = 'E'; |
351 | spi_cmd_buffer[4] = 'E'; |
348 | spi_cmd_buffer[5] = 'F'; |
352 | spi_cmd_buffer[5] = 'F'; |
349 | spi_cmd_buffer[6] = 'G'; |
353 | spi_cmd_buffer[6] = 'G'; |
350 | StartTransfer((unsigned char*) spi_cmd_buffer, 7); |
354 | StartTransfer((unsigned char*) spi_cmd_buffer, 7); |
351 | } |
355 | } |
352 | if (rxd_buffer_locked) { |
356 | if (rxd_buffer_locked) { |
353 | #if FCONLY |
357 | #if FCONLY |
354 | if (rxd_buffer[2] == 'D') { // FC Data |
358 | if (rxd_buffer[2] == 'D') { // FC Data |
355 | Decode64(); |
359 | Decode64(); |
356 | debugData = *((DebugOut_t*) pRxData); |
360 | debugData = *((DebugOut_t*) pRxData); |
357 | 361 | ||
358 | // init on first data retrival, distinguished by last battery :) |
362 | // init on first data retrival, distinguished by last battery :) |
359 | if (last_UBat == 255) { |
363 | if (last_UBat == 255) { |
360 | // fix for min_UBat |
364 | // fix for min_UBat |
361 | min_UBat = debugData.Analog[9]; |
365 | min_UBat = debugData.Analog[9]; |
362 | init_cosd(debugData.Analog[9]); |
366 | init_cosd(debugData.Analog[9]); |
363 | } |
367 | } |
364 | osd_fcmode(); |
368 | osd_fcmode(); |
365 | } |
369 | } |
366 | #else |
370 | #else |
367 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
371 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
368 | Decode64(); |
372 | Decode64(); |
369 | naviData = *((NaviData_t*) pRxData); |
373 | naviData = *((NaviData_t*) pRxData); |
370 | 374 | ||
371 | // init on first data retrival, distinguished by last battery :) |
375 | // init on first data retrival, distinguished by last battery :) |
372 | if (last_UBat == 255) { |
376 | if (last_UBat == 255) { |
373 | // fix for min_UBat |
377 | // fix for min_UBat |
374 | min_UBat = naviData.UBat; |
378 | min_UBat = naviData.UBat; |
375 | init_cosd(naviData.UBat); |
379 | init_cosd(naviData.UBat); |
376 | } |
380 | } |
377 | osd_ncmode(); |
381 | osd_ncmode(); |
378 | } |
382 | } |
379 | #endif |
383 | #endif |
380 | rxd_buffer_locked = 0; |
384 | rxd_buffer_locked = 0; |
381 | } |
385 | } |
382 | // handle keypress |
386 | // handle keypress |
383 | if (s1_pressed()) { |
387 | if (s1_pressed()) { |
384 | config_menu(); |
388 | config_menu(); |
385 | } |
389 | } |
386 | if (seconds_since_last_data > 2) { |
390 | if (seconds_since_last_data > 2) { |
387 | #if FCONLY |
391 | #if FCONLY |
388 | // request data ever 100ms from FC; |
392 | // request data ever 100ms from FC; |
389 | usart1_request_mk_data(0, 'd', 100); |
393 | usart1_request_mk_data(0, 'd', 100); |
390 | #else |
394 | #else |
391 | // request OSD Data from NC every 100ms |
395 | // request OSD Data from NC every 100ms |
392 | usart1_request_mk_data(1, 'o', 100); |
396 | usart1_request_mk_data(1, 'o', 100); |
393 | 397 | ||
394 | // and disable debug... |
398 | // and disable debug... |
395 | usart1_request_mk_data(0, 'd', 0); |
399 | usart1_request_mk_data(0, 'd', 0); |
396 | 400 | ||
397 | // reset last time counter |
401 | // reset last time counter |
398 | seconds_since_last_data = 0; |
402 | seconds_since_last_data = 0; |
399 | #endif |
403 | #endif |
400 | } |
404 | } |
401 | } |
405 | } |
402 | #endif |
406 | #endif |
403 | return 0; |
407 | return 0; |
404 | } |
408 | } |
405 | 409 |