WebSVN - Projects - Diff - Rev 465 and 466

  * - verifiy correctness of values
  * - clean up code :)
  */
 #if !(ALLCHARSDEBUG|(WRITECHARS != -1))
-// data structs not needed for character flashin
+// data structs not needed for character flashing
 #include "mk-data-structs.h"
 /* ##########################################################################
 volatile uint8_t last_RC_Quality = 255;
 // 16bit should be enough, normal LiPos don't last that long
 volatile uint16_t uptime = 0;
-volatile uint16_t timer = 0;
-volatile uint8_t short_timer = 0;
+volatile uint16_t timer = 0;
 // remember last time data was received
  * STROM TEST
  * ##########################################################################*/
 #define INT0_HIGH                       PORTD |=  (1 << PD2);
 #define INT0_LOW                        PORTD &= ~(1 << PD2);
-void SpiMasterInit(void)
-{
+void SpiMasterInit(void) {
-        volatile char IOReg;
+    volatile char IOReg;
-        // set PB4(/SS), PB5(MOSI), PB7(SCK) as output
+    // set PB4(/SS), PB5(MOSI), PB7(SCK) as output
-        DDRB  = (1<<PB4)|(1<<PB5)|(1<<PB7);
+    DDRB = (1 << PB4) | (1 << PB5) | (1 << PB7);
-                PORTB |= (1 << PB4); // pullup SS
+    PORTB |= (1 << PB4); // pullup SS
-        // enable SPI Interrupt and SPI in Master Mode with SCK = CK/128
+    // enable SPI Interrupt and SPI in Master Mode with SCK = CK/128
-        SPCR  = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR0)|(1<<SPR1);
+    SPCR = (1 << SPIE) | (1 << SPE) | (1 << MSTR) | (1 << SPR0) | (1 << SPR1);
-        IOReg   = SPSR;                         // clear SPIF bit in SPSR
+    IOReg = SPSR; // clear SPIF bit in SPSR
-        IOReg   = SPDR;
+    IOReg = SPDR;
-        //sei(); // we do it later
+    //sei(); // we do it later
+}
 volatile size_t icnt = 0;
 volatile unsigned char * iptr;
-volatile unsigned char spi_cmd[5];
+volatile unsigned char spi_cmd_buffer[5];
+volatile uint8_t spi_ready = 1;
-volatile uint8_t spi_ready = 1;
+int16_t ampere = 0;
-int16_t ampere = 0;
-ISR(SPI_STC_vect)
+/**
-{
+ * SPI interrupt handler
-    /* Empfangenes Byte im Puffer ablegen. */
+ */
-    *iptr++ = SPDR;
-    /* Zähler dekrementieren. */
+ISR(SPI_STC_vect) {
-    icnt--;
-    /* Falls Zähler noch nicht 0 ist... */
+    *iptr++ = SPDR; // safe received byte to buffer
-    if (icnt) {
+    icnt--; // dec length
-                ///_delay_ms(1);
-        /* ...nächstes Byte senden. */
-        //SPDR = *iptr;
+    if (icnt) {
-                spi_ready = 1;
+        //SPDR = *iptr; // send next byte
-    }
+        spi_ready = 1; // we _should_ send later because the slave needs more time
-    else {
-        /* ...andernfalls Interrupt Modus deaktivieren. */
-        SPCR &= ~_BV(SPIE);
+    } else {
-                INT0_HIGH
+        SPCR &= ~_BV(SPIE); // deactivate interrupt
+        INT0_HIGH // transfer is done, slave does not need to listen
-                //_delay_ms(1);
+    }
-    }
+}
 /**
  * check if SPI transfer is still busy
+ */
+int TransferIsBusy(void) {
+    return SPCR & _BV(SPIE);
-int TransferIsBusy(void)
+}
-{
+/**
-    return SPCR & _BV(SPIE);
-}
+ * start a new transfer of <data> with length <len>
  */
-void StartTransfer(unsigned char *data, size_t len)
+void StartTransfer(unsigned char *data, size_t len) {
-{
+    INT0_LOW // /SS LOW ^= SS HIGH ^= slave should listen
-        INT0_LOW
-    /* Interrupt Datenpointer und Zähler setzen. */
-    iptr = data;
+    // set up pointer and length for interrupt handler
-    icnt = len;
+    iptr = data;
     icnt = len;
     /* SPI Interrupt aktivieren und Transfer anstossen. */
-    SPCR |= _BV(SPIE);
+    SPCR |= _BV(SPIE); // enable spi interrupt
-    SPDR = *iptr;
     SPDR = *iptr; // start transfer by first bye
+}
 /* ##########################################################################
- * / STROM TEST END
+/* ##########################################################################
- * ##########################################################################*/
+ * / STROM TEST END
  * ##########################################################################*/
 /**
  * timer kicks in every 1000uS ^= 1ms
  */
 ISR(TIMER0_OVF_vect) {
     OCR0 = 15; // preload
     if (!timer--) {
         uptime++;
         timer = 999;
         seconds_since_last_data++;
+    }
 #if FCONLY
     write_ascii_string(2, 3, "FC only Mode");
 #else
     write_ascii_string(2, 3, "NaviCtrl Mode");
 #endif
-        write_ascii_string(2, 4, BUILDDATE);
+    write_ascii_string(2, 4, BUILDDATE);
     uint8_t cellnum = 0;
     if (CELL_NUM == -1) {
         write_ascii_string(2, 6, "Guessing Number of Cells");
         do {
             cellnum++;
-        } while (UBat > ((cellnum * CELL_VOLT_MAX) + 15));
+        } while (UBat > ((cellnum * CELL_VOLT_MAX) + 23));
     } else {
         cellnum = CELL_NUM;
+    }
     min_voltage = cellnum * CELL_VOLT_MIN;
     max_voltage = cellnum * CELL_VOLT_MAX;
 /* ##########################################################################
  * MAIN
  * ##########################################################################*/
 int main(void) {
     // set up FLAGS, compiler should flatten this one
     COSD_FLAGS = (NTSC << 0);
     COSD_FLAGS |= (HUD << 1);
     COSD_FLAGS |= (ARTHORIZON << 2);
     LED4_OFF
     //Pushing NEW chars to the MAX7456
 #if (WRITECHARS != -1)
-    // DISABLE display (VM0)
+            // DISABLE display (VM0)
-    spi_send_byte(0x00, 0b00000000);
+            spi_send_byte(0x00, 0b00000000);
-    #include "characters.c"
+#include "characters.c"
 #endif
     // set up timer
     TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64
     OCR0 = 15; // preload
     TIMSK |= (1 << TOIE0); // enable overflow timer0
-        DDRD |= (1 << PD2); // PD2 output (INT0)
+    DDRD |= (1 << PD2); // PD2 output (INT0)
-        SpiMasterInit();
+    SpiMasterInit();
     // enable interrupts
     sei();
 #endif
     //write_ascii_string(2,  7, "         CaScAdE          ");
     //write_ascii_string(2,  8, "is TESTING his open source");
     //write_ascii_string(2,  9, "    EPi OSD Firmware");
     // we are ready
     LED3_ON
 #if ALLCHARSDEBUG | (WRITECHARS != -1)
-    clear();
+            clear();
     write_all_chars();
 #else
-    // clear serial screen
+            // clear serial screen
-    //usart1_puts("\x1B[2J\x1B[H");
+            //usart1_puts("\x1B[2J\x1B[H");
-    //usart1_puts("hello world!\r\n");
+            //usart1_puts("hello world!\r\n");
 #if FCONLY
-    // request data ever 100ms from FC;
+            // request data ever 100ms from FC;
-    usart1_request_mk_data(0, 'd', 100);
+            usart1_request_mk_data(0, 'd', 100);
 #else
-    // request OSD Data from NC every 100ms
+            // request OSD Data from NC every 100ms
-    usart1_request_mk_data(1, 'o', 100);
+            usart1_request_mk_data(1, 'o', 100);
     // and disable debug...
     usart1_request_mk_data(0, 'd', 0);
 #endif
     // stats for after flight
     int16_t max_Altimeter = 0;
 #endif
+    while (1) {
-    while (1) {
+        // in case SPI is ready and there is nothing to send right now
-                if (!icnt && spi_ready) {
+        if (!icnt && spi_ready) {
-                        short_timer = 0;
+            // correct transfer ends with d (done)
-                        ampere = spi_cmd[1] << 8;
-                        ampere |= spi_cmd[2];
+            if (spi_cmd_buffer[0] == 'd') {
-                        //write_ascii_char(7+4*30, spi_cmd[0]);
+                ampere = spi_cmd_buffer[1] << 8;
+                ampere |= spi_cmd_buffer[2];
-                        if (spi_cmd[0] == 'd') {
+                // update flags
+                COSD_FLAGS2 |= COSD_FLAG_STROMREC;
-                                COSD_FLAGS2 |= COSD_FLAG_STROMREC;
+                //write_ascii_char(8+4*30, 'v'); // valid
-                                //write_ascii_char(8+4*30, 'v'); // valid
+            } else {
-                        } else {
+                // update flags
-                                COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
+                COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
-                                //write_ascii_char(8+4*30, 'i'); // invalid
+                //write_ascii_char(8+4*30, 'i'); // invalid
-                        }
+            }
-                        spi_cmd[0] = 'A';
+            spi_cmd_buffer[0] = 'A';
-                        spi_cmd[1] = 'B';
+            spi_cmd_buffer[1] = 'B';
-                        spi_cmd[2] = 'C';
+            spi_cmd_buffer[2] = 'C';
-                        StartTransfer((unsigned char*)spi_cmd, 3);
+            StartTransfer((unsigned char*) spi_cmd_buffer, 3);
+        }
         if (rxd_buffer_locked) {
             if (COSD_FLAGS & COSD_FLAG_HUD) {
 #if FCONLY
                 if (rxd_buffer[2] == 'D') { // FC Data
                     Decode64();
                     debugData = *((DebugOut_t*) pRxData);
                     // init on first data retrival, distinguished by last battery :)
                     if (last_UBat == 255) {
-                                                // fix for min_UBat
+                        // fix for min_UBat
-                                                min_UBat = debugData.Analog[9];
+                        min_UBat = debugData.Analog[9];
                         auto_config(debugData.Analog[9]);
                     }
-                                        #include "osd_fcmode_default.c"
+                    #include "osd_fcmode_default.c"
                 }
 #else
-                                if (rxd_buffer[2] == 'O') { // NC OSD Data
+                if (rxd_buffer[2] == 'O') { // NC OSD Data
-                                        Decode64();
+                    Decode64();
-                                        naviData = *((NaviData_t*) pRxData);
+                    naviData = *((NaviData_t*) pRxData);
-                                        // init on first data retrival, distinguished by last battery :)
+                    // init on first data retrival, distinguished by last battery :)
-                                        if (last_UBat == 255) {
+                    if (last_UBat == 255) {
-                                                // fix for min_UBat
+                        // fix for min_UBat
-                                                min_UBat = naviData.UBat;
+                        min_UBat = naviData.UBat;
-                                            auto_config(naviData.UBat);
+                        auto_config(naviData.UBat);
+                    }
-                                        #include "osd_ncmode_default.c"
+                    #include "osd_ncmode_default.c"
+                }
 #endif

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(root)/C-OSD/trunk/main.c/ - Rev 465 → 466