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| Rev 321 | Rev 324 | ||
|---|---|---|---|
| Line 29... | Line 29... | ||
| 29 | #include <avr/interrupt.h> |
29 | #include <avr/interrupt.h> |
| 30 | #include <util/delay.h> |
30 | #include <util/delay.h> |
| Line 31... | Line 31... | ||
| 31 | 31 | ||
| 32 | /* TODO: |
32 | /* TODO: |
| - | 33 | * - verifiy correctness of values |
|
| 33 | * - verifiy correctness of values |
34 | * - clean up code :) |
| Line 34... | Line 35... | ||
| 34 | */ |
35 | */ |
| 35 | 36 | ||
| 36 | /* ########################################################################## |
37 | /* ########################################################################## |
| 37 | * Debugging and general purpose definitions |
38 | * Debugging and general purpose definitions |
| 38 | * ##########################################################################*/ |
39 | * ##########################################################################*/ |
| 39 | #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 |
| 40 | #define WRITECHARS 0 // set to 1 and flash firmware to write new char |
41 | #define WRITECHARS 224 // set to 2XX and flash firmware to write new char |
| 41 | // 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 |
|
| - | 44 | #define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon |
|
| - | 45 | #define NOOSD 0 // set to 1 to disable OSD completely |
|
| 42 | #define NTSC 0 // set to 1 for NTSC mode + lifts the bottom line |
46 | #define NOOSD_BUT_WRN 0 // set to 1 to disable OSD completely but show |
| 43 | #define ARTHORIZON 0 // set to 1 to enable roll&nick artificial horizon |
47 | // battery and receive signal warnings |
| Line 44... | Line 48... | ||
| 44 | #define UBAT_WRN 94 // voltage for blinking warning, like FC settings |
48 | #define UBAT_WRN 94 // voltage for blinking warning, like FC settings |
| 45 | #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 |
| Line 46... | Line 50... | ||
| 46 | 50 | ||
| - | 51 | // ### read datasheet before changing stuff below this line :) |
|
| - | 52 | #define BLINK 0b01001111 // attribute byte for blinking chars |
|
| - | 53 | ||
| - | 54 | /* ########################################################################## |
|
| - | 55 | * FLAGS usable during runtime |
|
| - | 56 | * ##########################################################################*/ |
|
| - | 57 | #define COSD_FLAG_NTSC 1 |
|
| - | 58 | #define COSD_FLAG_ARTHORIZON 2 |
|
| 47 | // ### read datasheet before changing stuff below this line :) |
59 | #define COSD_FLAG_NOOSD 4 |
| 48 | #define BLINK 0b01001111 // attribute byte for blinking chars |
60 | #define COSD_FLAG_NOOSD_BUT_WRN 8 |
| 49 | 61 | ||
| 50 | /* ########################################################################## |
62 | /* ########################################################################## |
| 51 | * Software SPI to communicate with MAX7456 |
63 | * Software SPI to communicate with MAX7456 |
| Line 72... | Line 84... | ||
| 72 | #define LED4_OFF PORTC &= ~(1 << PC3); |
84 | #define LED4_OFF PORTC &= ~(1 << PC3); |
| Line 73... | Line 85... | ||
| 73 | 85 | ||
| 74 | /* ########################################################################## |
86 | /* ########################################################################## |
| 75 | * switch controll |
87 | * switch controll |
| 76 | * ##########################################################################*/ |
88 | * ##########################################################################*/ |
| 77 | #define S1_PRESSED !(PINC & (1<<PC4)) |
89 | #define S1_PRESSED !(PINC & (1<<PC5)) |
| Line 78... | Line 90... | ||
| 78 | #define S2_PRESSED !(PINC & (1<<PC5)) |
90 | #define S2_PRESSED !(PINC & (1<<PC4)) |
| 79 | 91 | ||
| 80 | /* ########################################################################## |
92 | /* ########################################################################## |
| 81 | * gain some fake arm compat :) |
93 | * gain some fake arm compat :) |
| Line 96... | Line 108... | ||
| 96 | #define NC_FLAG_CH 4 |
108 | #define NC_FLAG_CH 4 |
| 97 | #define NC_FLAG_RANGE_LIMIT 8 |
109 | #define NC_FLAG_RANGE_LIMIT 8 |
| 98 | #define NC_SERIAL_LINK_OK 16 |
110 | #define NC_SERIAL_LINK_OK 16 |
| 99 | #define NC_FLAG_TARGET_REACHED 32 |
111 | #define NC_FLAG_TARGET_REACHED 32 |
| Line 100... | Line -... | ||
| 100 | - | ||
| 101 | 112 | ||
| 102 | #define FLAG_MOTOR_RUN 1 |
113 | #define FLAG_MOTOR_RUN 1 |
| 103 | #define FLAG_FLY 2 |
114 | #define FLAG_FLY 2 |
| 104 | #define FLAG_CALIBRATE 4 |
115 | #define FLAG_CALIBRATE 4 |
| Line 763... | Line 774... | ||
| 763 | 774 | ||
| 764 | /* ########################################################################## |
775 | /* ########################################################################## |
| 765 | * MAIN |
776 | * MAIN |
| 766 | * ##########################################################################*/ |
777 | * ##########################################################################*/ |
| - | 778 | int main(void) { |
|
| - | 779 | // set up FLAGS, compiler should flatten this one |
|
| - | 780 | uint8_t COSD_FLAGS = (NTSC << (COSD_FLAG_NTSC - 1)); |
|
| - | 781 | COSD_FLAGS |= (ARTHORIZON << (COSD_FLAG_ARTHORIZON - 1)); |
|
| - | 782 | COSD_FLAGS |= (NOOSD << (COSD_FLAG_NOOSD - 1)); |
|
| - | 783 | COSD_FLAGS |= (NOOSD_BUT_WRN << (COSD_FLAG_NOOSD_BUT_WRN - 1)); |
|
| - | 784 | ||
| 767 | int main(void) { |
785 | // set up Atmega162 Ports |
| 768 | DDRA |= (1 << PA1); // PA1 output (/CS) |
786 | DDRA |= (1 << PA1); // PA1 output (/CS) |
| 769 | MAX_CS_HIGH |
787 | MAX_CS_HIGH |
| 770 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
788 | DDRA |= (1 << PA2); // PA2 output (SDIN) |
| 771 | MAX_SDIN_LOW |
789 | MAX_SDIN_LOW |
| Line 789... | Line 807... | ||
| 789 | PORTC |= (1 << PC5); // pullup |
807 | PORTC |= (1 << PC5); // pullup |
| Line 790... | Line 808... | ||
| 790 | 808 | ||
| 791 | MAX_RESET_LOW |
809 | MAX_RESET_LOW |
| Line -... | Line 810... | ||
| - | 810 | MAX_RESET_HIGH |
|
| - | 811 | ||
| - | 812 | // check for keypress at startup |
|
| - | 813 | if (S2_PRESSED) { // togle COSD_FLAG_ARTHORIZON |
|
| - | 814 | COSD_FLAGS ^= (1 << (COSD_FLAG_ARTHORIZON - 1)); |
|
| - | 815 | _delay_ms(100); |
|
| 792 | MAX_RESET_HIGH |
816 | } |
| 793 | 817 | ||
| 794 | // give the FC/NC and the maxim time to come up |
818 | // give the FC/NC and the maxim time to come up |
| Line 795... | Line 819... | ||
| 795 | LED4_ON |
819 | LED4_ON |
| Line 1114... | Line 1138... | ||
| 1114 | 0x88, 0x4a, 0xa0, 0x88, 0x4a, 0xa8, 0x11, 0x52, |
1138 | 0x88, 0x4a, 0xa0, 0x88, 0x4a, 0xa8, 0x11, 0x52, |
| 1115 | 0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
1139 | 0xaa, 0x15, 0x54, 0xaa, 0x15, 0x55, 0x28, 0x55, |
| 1116 | 0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
1140 | 0x55, 0x41, 0x55, 0x55, 0x55, 0x55}; |
| Line 1117... | Line 1141... | ||
| 1117 | 1141 | ||
| 1118 | 1142 | ||
| - | 1143 | // flashing more than 8 chars per time is not proven to be safe |
|
| 1119 | // flashing more than 8 chars per time is not profen to be safe |
1144 | // so take care |
| 1120 | // so take care |
1145 | #if WRITECHARS == 200 |
| 1121 | /*learn_char(200, cc8); |
1146 | learn_char(200, cc8); |
| 1122 | learn_char(201, cc9); |
1147 | learn_char(201, cc9); |
| 1123 | learn_char(202, cca); |
1148 | learn_char(202, cca); |
| 1124 | learn_char(203, ccb); |
1149 | learn_char(203, ccb); |
| 1125 | learn_char(204, ccc); |
1150 | learn_char(204, ccc); |
| 1126 | learn_char(205, ccd); |
1151 | learn_char(205, ccd); |
| - | 1152 | learn_char(206, cce); |
|
| - | 1153 | learn_char(207, ccf); |
|
| 1127 | learn_char(206, cce); |
1154 | #endif |
| 1128 | learn_char(207, ccf);*/ |
1155 | #if WRITECHARS == 208 |
| 1129 | /*learn_char(208, cd0); |
1156 | learn_char(208, cd0); |
| 1130 | learn_char(209, cd1); |
1157 | learn_char(209, cd1); |
| 1131 | learn_char(210, cd2); |
1158 | learn_char(210, cd2); |
| 1132 | learn_char(211, cd3); |
1159 | learn_char(211, cd3); |
| 1133 | learn_char(212, cd4); |
1160 | learn_char(212, cd4); |
| 1134 | learn_char(213, cd5); |
1161 | learn_char(213, cd5); |
| - | 1162 | learn_char(214, cd6); |
|
| - | 1163 | learn_char(215, cd7); |
|
| 1135 | learn_char(214, cd6); |
1164 | #endif |
| 1136 | learn_char(215, cd7);*/ |
1165 | #if WRITECHARS == 216 |
| 1137 | /*learn_char(216, cd8); |
1166 | learn_char(216, cd8); |
| 1138 | learn_char(217, cd9); |
1167 | learn_char(217, cd9); |
| 1139 | learn_char(218, cda); |
1168 | learn_char(218, cda); |
| 1140 | learn_char(219, cdb); |
1169 | learn_char(219, cdb); |
| 1141 | learn_char(220, cdc); |
1170 | learn_char(220, cdc); |
| 1142 | learn_char(221, cdd); |
1171 | learn_char(221, cdd); |
| - | 1172 | learn_char(222, cde); |
|
| - | 1173 | learn_char(223, cdf); |
|
| 1143 | learn_char(222, cde); |
1174 | #endif |
| 1144 | learn_char(223, cdf);*/ |
1175 | #if WRITECHARS == 224 |
| 1145 | /*learn_char(224, ce0); |
1176 | learn_char(224, ce0); |
| 1146 | learn_char(225, ce1); |
1177 | learn_char(225, ce1); |
| 1147 | learn_char(226, ce2); |
1178 | learn_char(226, ce2); |
| 1148 | learn_char(227, ce3); |
1179 | learn_char(227, ce3); |
| 1149 | learn_char(228, ce4); |
1180 | learn_char(228, ce4); |
| 1150 | learn_char(229, ce5); |
1181 | learn_char(229, ce5); |
| 1151 | learn_char(230, ce6); |
1182 | learn_char(230, ce6); |
| - | 1183 | learn_char(231, ce7); |
|
| 1152 | learn_char(231, ce7);*/ |
1184 | #endif |
| 1153 | #endif |
1185 | #endif // write char general |
| 1154 | /* ########################################################################## |
1186 | /* ########################################################################## |
| - | 1187 | * continue normal main |
|
| 1155 | * continue normal main |
1188 | * ##########################################################################*/ |
| - | 1189 | ||
| - | 1190 | // Setup Video Mode |
|
| - | 1191 | uint8_t top_line = 1; |
|
| 1156 | * ##########################################################################*/ |
1192 | uint8_t bottom_line = 0; |
| 1157 | #if NTSC |
1193 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
| - | 1194 | // NTSC + enable display immediately (VM0) |
|
| 1158 | // NTSC + enable display immediately (VM0) |
1195 | spi_send_byte(0x00, 0b00001000); |
| 1159 | spi_send_byte(0x00, 0b00001000); |
1196 | bottom_line = 12; |
| 1160 | #else |
1197 | } else { |
| - | 1198 | // PAL + enable display immediately (VM0) |
|
| 1161 | // PAL + enable display immediately (VM0) |
1199 | spi_send_byte(0x00, 0b01001000); |
| Line 1162... | Line 1200... | ||
| 1162 | spi_send_byte(0x00, 0b01001000); |
1200 | bottom_line = 14; |
| 1163 | #endif |
1201 | } |
| Line 1164... | Line 1202... | ||
| 1164 | 1202 | ||
| Line 1236... | Line 1274... | ||
| 1236 | sendMKData('o', 1, &ms, 1); |
1274 | sendMKData('o', 1, &ms, 1); |
| 1237 | // and disable debug... |
1275 | // and disable debug... |
| 1238 | //ms = 0; |
1276 | //ms = 0; |
| 1239 | //sendMKData('d', 0, &ms, 1); |
1277 | //sendMKData('d', 0, &ms, 1); |
| Line 1240... | Line -... | ||
| 1240 | - | ||
| 1241 | uint8_t top_line = 1; |
- | |
| 1242 | #if NTSC |
- | |
| 1243 | uint8_t bottom_line = 12; |
- | |
| 1244 | #else |
- | |
| 1245 | uint8_t bottom_line = 14; |
- | |
| 1246 | #endif |
1278 | |
| 1247 | // stats for after flight |
1279 | // stats for after flight |
| 1248 | int16_t max_Altimeter = 0; |
1280 | int16_t max_Altimeter = 0; |
| 1249 | uint16_t max_GroundSpeed = 0; |
1281 | uint16_t max_GroundSpeed = 0; |
| - | 1282 | int16_t max_Distance = 0; |
|
| - | 1283 | uint8_t min_UBat = 255; |
|
| Line 1250... | Line 1284... | ||
| 1250 | int16_t max_Distance = 0; |
1284 | uint16_t max_FlyingTime = 0; |
| 1251 | 1285 | ||
| Line 1252... | Line 1286... | ||
| 1252 | // flags from last round to check for changes |
1286 | // flags from last round to check for changes |
| Line 1332... | Line 1366... | ||
| 1332 | write_char_xy(x, 5, 0); |
1366 | write_char_xy(x, 5, 0); |
| 1333 | write_char_xy(x, 7, 0); |
1367 | write_char_xy(x, 7, 0); |
| 1334 | write_char_xy(x, 9, 0); |
1368 | write_char_xy(x, 9, 0); |
| 1335 | } |
1369 | } |
| 1336 | } |
1370 | } |
| 1337 | #if ARTHORIZON |
1371 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
| 1338 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
1372 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
| 1339 | #endif |
1373 | } |
| 1340 | } else { |
1374 | } else { |
| 1341 | // stats |
1375 | // stats |
| 1342 | write_ascii_string(2, 5, "max Altitude:"); |
1376 | write_ascii_string(2, 5, "max Altitude:"); |
| 1343 | write_number_s(17, 5, max_Altimeter/10); |
1377 | write_number_s(17, 5, max_Altimeter/10); |
| 1344 | write_char_xy(22, 5, 204); // small meters m |
1378 | write_char_xy(22, 5, 204); // small meters m |
| 1345 | write_ascii_string(2, 7, "max Speed :"); |
1379 | write_ascii_string(2, 6, "max Speed :"); |
| 1346 | write_3digit_number_u(19, 7, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000)); |
1380 | write_3digit_number_u(19, 6, (uint16_t)(((uint32_t)max_GroundSpeed*36)/1000)); |
| 1347 | write_char_xy(22, 7, 203); // km/h |
1381 | write_char_xy(22, 6, 203); // km/h |
| 1348 | write_ascii_string(2, 9, "max Distance:"); |
1382 | write_ascii_string(2, 7, "max Distance:"); |
| 1349 | write_number_s(17, 9, max_Distance/100); |
1383 | write_number_s(17, 7, max_Distance/100); |
| 1350 | write_char_xy(22, 9, 204); // small meters m |
1384 | write_char_xy(22, 7, 204); // small meters m |
| - | 1385 | write_ascii_string(2, 8, "min voltage :"); |
|
| - | 1386 | //write_number_s(17, 8, min_UBat/10); |
|
| - | 1387 | write_number_u_10th(16, 8, min_UBat); |
|
| - | 1388 | write_ascii_string(22, 8, "V"); // voltage |
|
| - | 1389 | write_ascii_string(2, 9, "max time :"); |
|
| - | 1390 | write_number_s(17, 9, max_FlyingTime); |
|
| - | 1391 | write_char_xy(22, 9, 210); // fly clock |
|
| 1351 | } |
1392 | } |
| Line 1352... | Line 1393... | ||
| 1352 | 1393 | ||
| 1353 | // bottom line |
1394 | // bottom line |
| 1354 | write_number_u_10th(0, bottom_line, naviData.UBat); |
1395 | write_number_u_10th(0, bottom_line, naviData.UBat); |
| Line 1380... | Line 1421... | ||
| 1380 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
1421 | if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter; |
| 1381 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
1422 | if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed; |
| 1382 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
1423 | if (naviData.HomePositionDeviation.Distance > max_Distance) { |
| 1383 | max_Distance = naviData.HomePositionDeviation.Distance; |
1424 | max_Distance = naviData.HomePositionDeviation.Distance; |
| 1384 | } |
1425 | } |
| - | 1426 | if (naviData.UBat < min_UBat) min_UBat = naviData.UBat; |
|
| - | 1427 | if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime; |
|
| - | 1428 | ||
| 1385 | old_MKFlags = naviData.MKFlags; |
1429 | old_MKFlags = naviData.MKFlags; |
| 1386 | } |
1430 | } |
| 1387 | rxd_buffer_locked = 0; |
1431 | rxd_buffer_locked = 0; |
| 1388 | } |
1432 | } |
| 1389 | // handle keypress |
1433 | // handle keypress |