WebSVN - Projects - Diff - Rev 401 and 402


/****************************************************************************
 *   Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje                    *
 *   admiralcascade@gmail.com                                               *
 *   Project-URL: http://www.mylifesucks.de/oss/c-osd/                      *
 *                                                                          *
 *   This program is free software; you can redistribute it and/or modify   *
 *   it under the terms of the GNU General Public License as published by   *
 *   the Free Software Foundation; either version 2 of the License.         *
 *                                                                          *
 *   This program is distributed in the hope that it will be useful,        *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of         *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the          *
 *   GNU General Public License for more details.                           *
 *                                                                          *
 *   You should have received a copy of the GNU General Public License      *
 *   along with this program; if not, write to the                          *
 *   Free Software Foundation, Inc.,                                        *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.              *
 *                                                                          *
 *                                                                          *
 *   Credits to:                                                            *
 *   Holger Buss & Ingo Busker from mikrokopter.de for the MK project       *
 *   Gregor "killagreg" Stobrawa for making the MK code readable            *
 *   Klaus "akku" Buettner for the hardware                                 *
 *   Manuel "KeyOz" Schrape for explaining the MK protocol to me            *
 ****************************************************************************/
 
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include <avr/pgmspace.h> 
#include "main.h"
#include "max7456_software_spi.h"
#include "usart1.h"
#include "osd_helpers.h"
 
/* TODO:
 * - verifiy correctness of values
 * - clean up code :)
 */
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
// data structs not needed for character flashin
#include "mk-data-structs.h"
 
/* ##########################################################################
 * global definitions and global vars
 * ##########################################################################*/
 
volatile uint16_t setsReceived = 0;
 
volatile NaviData_t naviData;
volatile DebugOut_t debugData;
 
// cache old vars for blinking attribute, checkup is faster than full
// attribute write each time
volatile uint8_t last_UBat = 255;
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;
 
// remember last time data was received
volatile uint8_t seconds_since_last_data = 0;
 
// store stats description in progmem to save space
char stats_item_0[] PROGMEM = "max Altitude:";
char stats_item_1[] PROGMEM = "max Speed   :";
char stats_item_2[] PROGMEM = "max Distance:";
char stats_item_3[] PROGMEM = "min voltage :";
char stats_item_4[] PROGMEM = "max time    :";
char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
                                        stats_item_3, stats_item_4};
 
// store more fixed strings in progmen
char ON[] PROGMEM = "ON ";
char OFF[] PROGMEM = "OFF";
 
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
 
// general PAL|NTSC distingiusch stuff
uint8_t top_line = 1;
uint8_t bottom_line = 14;
 
// Flags
uint8_t COSD_FLAGS = 0;
 
/* ##########################################################################
 * debounce buttons
 * ##########################################################################*/
int s1_pressed() {
        if (S1_PRESSED) {
                _delay_ms(25);
                if (S1_PRESSED) return 1;
        }
        return 0;
}
 
int s2_pressed() {
        if (S2_PRESSED) {
                _delay_ms(25);
                if (S2_PRESSED) return 1;
        }
        return 0;
}
 
/* ##########################################################################
 * Interrupt handler
 * ##########################################################################*/
/**
 * handler for undefined Interrupts
 * if not defined AVR will reset in case any unhandled interrupts occur
 */
ISR(__vector_default) {
        asm("nop");
}
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
/* ##########################################################################
 * timer stuff
 * ##########################################################################*/
/**
 * timer kicks in every 1000uS ^= 1ms
 */
ISR(TIMER0_OVF_vect) {
    OCR0 = 15; // preload
    if (!timer--) {
        uptime++;
        timer = 999;
                seconds_since_last_data++;
    }
}
 
 
/* ##########################################################################
 * A simple config menu for the flags
 * ##########################################################################*/
 
/**
 * helper function for menu updating
 */
void config_menu_drawings(uint8_t chosen) {
    // clear prevoius _cursor_
    write_ascii_string(3, (chosen + 5) % 8, " ");
    // draw current _cursor_
    write_ascii_string(3, chosen + 5, ">");
    if (COSD_FLAGS & COSD_FLAG_HUD) {
        write_ascii_string_pgm(23, 5, ON);
    } else {
                write_ascii_string_pgm(23, 5, OFF);
    }
    if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
        write_ascii_string_pgm(23, 6, ON);
    } else {
        write_ascii_string_pgm(23, 6, OFF);
    }
        if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
        write_ascii_string_pgm(23, 7, ON);
    } else {
                write_ascii_string_pgm(23, 7, OFF);
    }
        if (COSD_FLAGS & COSD_FLAG_STATS) {
        write_ascii_string_pgm(23, 8, ON);
    } else {
        write_ascii_string_pgm(23, 8, OFF);
    }
    if (COSD_FLAGS & COSD_FLAG_WARNINGS) {
        write_ascii_string_pgm(23, 9, ON);
    } else {
        write_ascii_string_pgm(23, 9, OFF);
    }
}
 
/**
 * some sort of clicking response in the menu
 */
void config_menu_doclick(uint8_t chosen, char** menu) {
        write_ascii_string(4, chosen + 5, "DONE              ");
        _delay_ms(1000);
        write_ascii_string(4, chosen + 5, menu[chosen]);
}
 
/**
 * a simple config menu tryout
 */
void config_menu(void) {
        // disable interrupts (makes the menu more smoothely)
        cli();
 
        // clear screen
        clear();
       
        char* menu[9] = {"Full HUD",
                                         "Art.Horizon in HUD",
                                         "Big Vario bar",
                                         "Statistics",
                                         "Warnings",    // TODO: do it!
                                         "Reset uptime",
                                         "Request OSD-data",
                                         "Disable Debug-data",
                                         "EXIT"};
 
        uint8_t inmenu = 1;
        uint8_t chosen = 0;
        write_ascii_string(6,  2, "C-OSD Config Menu");
 
        // wait a bit before doing stuff so user has chance to release button
        _delay_ms(250);
 
        write_ascii_string(4,  5, menu[0]);
        write_ascii_string(4,  6, menu[1]);
        write_ascii_string(4,  7, menu[2]);
        write_ascii_string(4,  8, menu[3]);
        write_ascii_string(4,  9, menu[4]);
        write_ascii_string(4, 10, menu[5]);
        write_ascii_string(4, 11, menu[6]);
        write_ascii_string(4, 12, menu[7]);
        write_ascii_string(4, 13, menu[8]);
 
        config_menu_drawings(chosen);
 
        while (inmenu) {
                        if (s2_pressed()) {
                                write_ascii_string(3,  chosen+5, " ");
                                chosen = (chosen + 1) % 9;
                                write_ascii_string(3,  chosen+5, ">");
                                _delay_ms(500);
                        } else if (s1_pressed()) {
                                switch (chosen) {
                                        case 0:         // full HUD
                                                COSD_FLAGS ^= COSD_FLAG_HUD;
                                                config_menu_drawings(chosen);
                                                break;
                                        case 1:         // art horizon
                                                COSD_FLAGS ^= COSD_FLAG_ARTHORIZON;
                                                config_menu_drawings(chosen);
                                                break;
                                        case 2:         // big vario
                                                COSD_FLAGS ^= COSD_FLAG_BIGVARIO;
                                                config_menu_drawings(chosen);
                                                break;
                                        case 3:         // statistics
                                                COSD_FLAGS ^= COSD_FLAG_STATS;
                                                config_menu_drawings(chosen);
                                                break;
                                        case 4:         // warnings
                                                COSD_FLAGS ^= COSD_FLAG_WARNINGS;
                                                config_menu_drawings(chosen);
                                                break;
                                        case 5:         // reset uptime
                                                uptime = 0;
                                                config_menu_doclick(chosen, menu);
                                                break;
                                        case 6:         // re-request OSD data
                                                // request OSD Data from NC every 100ms
                                                usart1_request_mk_data(1, 'o', 100);
                                                config_menu_doclick(chosen, menu);
                                                break;
                                        case 7:         // disable debug data
                                                // disable sending of debug data
                                                // may result in smoother ddata display
                                                usart1_request_mk_data(0, 'd', 0);
                                                config_menu_doclick(chosen, menu);
                                                break;
                                        case 8:         // exit
                                                inmenu = 0;
                                                break;
                                }
                                _delay_ms(250);
                        }
        }
 
        // clear screen up again
        clear();
 
        // update flags to paint display again if needed
        COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
 
        // enable interrupts again
        sei();
}
 
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
/* ##########################################################################
 * MAIN
 * ##########################################################################*/
int main(void) {
    // set up FLAGS, compiler should flatten this one
    COSD_FLAGS = (NTSC << 0);
    COSD_FLAGS |= (HUD << 1);
    COSD_FLAGS |= (ARTHORIZON << 2);
        COSD_FLAGS |= (BIGVARIO << 3);
        COSD_FLAGS |= (STATS << 4);
    COSD_FLAGS |= (WARNINGS << 5);
 
    // set up Atmega162 Ports
    DDRA |= (1 << PA1); // PA1 output (/CS)
    MAX_CS_HIGH
    DDRA |= (1 << PA2); // PA2 output (SDIN)
    MAX_SDIN_LOW
    DDRA |= (1 << PA3); // PA3 output (SCLK)
    MAX_SCLK_LOW
    DDRA |= (1 << PA5); // PA5 output (RESET)
    MAX_RESET_HIGH
 
    DDRC |= (1 << PC0); // PC0 output (LED1 gn)
    LED1_OFF
    DDRC |= (1 << PC1); // PC1 output (LED2 rt)
    LED2_OFF
    DDRC |= (1 << PC2); // PC2 output (LED3 gn)
    LED3_OFF
    DDRC |= (1 << PC3); // PC3 output (LED4 rt)
    LED4_OFF
 
    DDRC &= ~(1 << PC4); // PC4 input  (MODE)
    PORTC |= (1 << PC4); // pullup
    DDRC &= ~(1 << PC5); // PC5 input  (SET)
    PORTC |= (1 << PC5); // pullup
 
    // set up top and bottom lines
    if (COSD_FLAGS & COSD_FLAG_NTSC) {
        bottom_line = 12;
    } else {
        bottom_line = 14;
    }
 
    // reset the MAX7456 to be sure any undefined states do no harm
    MAX_RESET_LOW
    MAX_RESET_HIGH
 
    // give the FC/NC and the maxim time to come up
    LED4_ON
    _delay_ms(2000);
 
    LED4_OFF
 
 
    //Pushing NEW chars to the MAX7456
#if (WRITECHARS != -1)
    // DISABLE display (VM0)
    spi_send_byte(0x00, 0b00000000);
#include "characters.c"
 
#endif 
 
    // Setup Video Mode
    if (COSD_FLAGS & COSD_FLAG_NTSC) {
        // NTSC + enable display immediately (VM0)
        spi_send_byte(0x00, 0b00001000);
    } else {
        // PAL + enable display immediately (VM0)
        spi_send_byte(0x00, 0b01001000);
    }
 
 
 
 
 
 
 
    // 8bit mode
    spi_send_byte(0x04, 0b01000000);
 
    // clear display
    clear();
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
    // init usart
    usart1_init();
 
    // set up timer
    TCCR0 |= (1 << CS00) | (1 << CS01); // timer0 prescaler 64
    OCR0 = 15; // preload
    TIMSK |= (1 << TOIE0); // enable overflow timer0
 
    // 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();
    write_all_chars();
#else
        // clear serial screen
        //usart1_puts("\x1B[2J\x1B[H");
        //usart1_puts("hello world!\r\n");
 
 
        // request data ever 100ms from FC;
        //usart1_request_mk_data(0, 'd', 100);
 
        // request OSD Data from NC every 100ms
        usart1_request_mk_data(1, 'o', 100);
 
    // and disable debug...
        usart1_request_mk_data(0, 'd', 0);
 
    // stats for after flight
    int16_t max_Altimeter = 0;
    uint16_t max_GroundSpeed = 0;
    int16_t max_Distance = 0;
    uint8_t min_UBat = 255;
    uint16_t max_FlyingTime = 0;
 
    // flags from last round to check for changes
    uint8_t old_MKFlags = 0;
 
    char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
    //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
 
    while (1) {
        // write icons at init or after menu/mode-switch
        if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) {
            write_char_xy(5, top_line, 0xCB); // km/h
            write_char_xy(10, top_line, 0xCA); // RC-transmitter
            write_char_xy(16, top_line, 0xD0); // degree symbol
            write_char_xy(27, top_line, 0xCC); // small meters m height
                        write_char_xy(20, top_line+1, 0xB0); // left circle
                        write_char_xy(22, top_line+1, 0xB2); // right circle
                        write_char_xy(27, top_line+1, 0xCC); // small meters m home
                        write_char_xy(7, bottom_line, 0x9E); // small v
            write_char_xy(14, bottom_line, 0xD1); // on clock
            write_char_xy(22, bottom_line, 0xD2); // fly clock
            write_char_xy(26, bottom_line, 0xC8); // sat1
            write_char_xy(27, bottom_line, 0xC9); // sat2
            COSD_FLAGS |= COSD_ICONS_WRITTEN;
        }
        if (rxd_buffer_locked) {
            if (COSD_FLAGS & COSD_FLAG_HUD) {
                if (rxd_buffer[2] == 'D') { // FC Data
                    /*Decode64();
                    debugData = *((DebugOut_t*) pRxData);
                    write_number_s(12, 2, RxDataLen);
                    write_number_s(20, 2, setsReceived++);
                    write_number_s(12, 3, debugData.Analog[0]); // AngleNick
                    write_number_s(12, 4, debugData.Analog[1]); // AngleRoll
                                        write_number_s(12, 5, debugData.Analog[5]); // Height
                    write_number_s(12, 6, debugData.Analog[9]); // Voltage
                    write_number_s(12, 7, debugData.Analog[10]);// RC Signal
                                        write_number_s(12, 8, debugData.Analog[11]);// Gyro compass
                                        seconds_since_last_data = 0;*/
                } else if (rxd_buffer[2] == 'O') { // NC OSD Data
                    Decode64();
                    naviData = *((NaviData_t*) pRxData);
                                       
                    // first line
                    write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
 
                    write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0);
                    if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
                        for (uint8_t x = 0; x < 4; x++)
                            write_char_att_xy(7 + x, top_line, BLINK);
                    } else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
                        for (uint8_t x = 0; x < 4; x++)
                            write_char_att_xy(7 + x, top_line, 0);
                    }
                    last_RC_Quality = naviData.RC_Quality;
 
                    write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0);
 
                    write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
                                       
                                        draw_variometer(21, top_line, naviData.Variometer);
 
                    //note:lephisto:according to several sources it's /30
                    if (naviData.Altimeter > 300 || naviData.Altimeter < -300) {
                        // above 10m only write full meters
                        write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0);
                    } else {
                        // up to 10m write meters.dm
                        //write_number_u_10th(21, top_line, naviData.Altimeter / 3);
                                                write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0);
                    }
 
                    // seccond line
                    draw_compass(11, top_line + 1, naviData.CompassHeading);
 
                    // TODO: verify correctness
                    uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
                    //write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
                                        // finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
                                        write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
 
                    write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0);
 
                    // center
                    if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
                        if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
                            clear();
                            // update flags to paint display again if needed
                            COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
                        }
                        if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
                            draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
                        }
                    } else {
                                                // stats
                                                if (COSD_FLAGS & COSD_FLAG_STATS) {
                                                        write_ascii_string_pgm(2, 5, stats_item_pointers[0]); // max Altitude
                                write_ndigit_number_s(18, 5, max_Altimeter / 30, 1000, 0);
                                write_char_xy(22, 5, 204); // small meters m
                                                        write_ascii_string_pgm(2, 6, stats_item_pointers[1]); // max Speed
                                                        write_ndigit_number_u(19, 6, (uint16_t) (((uint32_t) max_GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
                                write_char_xy(22, 6, 203); // km/h
                                                        write_ascii_string_pgm(2, 7, stats_item_pointers[2]); // max Distance
                                write_ndigit_number_u(19, 7, max_Distance / 100, 100, 0);
                                write_char_xy(22, 7, 204); // small meters m
                                                        write_ascii_string_pgm(2, 8, stats_item_pointers[3]); // min voltage
                                                        write_ndigit_number_u_10th(18, 8, min_UBat, 100, 0);
                                                        write_char_xy(22, 8, 0x9E); // small v
                                                        write_ascii_string_pgm(2, 9, stats_item_pointers[4]); // max time
                                write_time(16, 9, max_FlyingTime);
                                write_char_xy(22, 9, 210); // fly clock
                                                } else if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { // if no stats there is space horizon
                            draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll);
                        }
                    }
                                        if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
                                                draw_big_variometer(27, 8, naviData.Variometer);
                                        }
 
                    // bottom line
                                        draw_battery(2, bottom_line, naviData.UBat);
                                        write_ndigit_number_u_10th(3, bottom_line, naviData.UBat, 100, 0);
                    if (naviData.UBat <= UBAT_WRN && last_UBat > UBAT_WRN) {
                        for (uint8_t x = 2; x < 8; x++)
                            write_char_att_xy(x, bottom_line, BLINK);
                    } else {
                        for (uint8_t x = 2; x < 8; x++)
                            write_char_att_xy(x, bottom_line, 0);
                    }
                                       
 
                    write_time(8, bottom_line, uptime);
                    write_time(16, bottom_line, naviData.FlyingTime);
 
                    write_ndigit_number_u(24, bottom_line, naviData.SatsInUse, 10, 0);
 
                    if (naviData.NCFlags & NC_FLAG_CH) {
                        write_char_xy(27, bottom_line, 231); // gps ch
                    } else if (naviData.NCFlags & NC_FLAG_PH) {
                        write_char_xy(27, bottom_line, 230); // gps ph
                    } else { // (naviData.NCFlags & NC_FLAG_FREE)
                        write_char_xy(27, bottom_line, 201); // sat2 (free)
                    }
 
                    //write_number_s(8, 5, RxDataLen);
                    //write_number_s(16, 5, setsReceived++);
 
                    // remember statistics
                    if (naviData.Altimeter > max_Altimeter) max_Altimeter = naviData.Altimeter;
                    if (naviData.GroundSpeed > max_GroundSpeed) max_GroundSpeed = naviData.GroundSpeed;
                    if (naviData.HomePositionDeviation.Distance > max_Distance) {
                        max_Distance = naviData.HomePositionDeviation.Distance;
                    }
                    if (naviData.UBat < min_UBat) min_UBat = naviData.UBat;
                    if (naviData.FlyingTime > max_FlyingTime) max_FlyingTime = naviData.FlyingTime;
 
                    old_MKFlags = naviData.MKFlags;
                                        seconds_since_last_data = 0;
                }
            }
            rxd_buffer_locked = 0;
        }
        // handle keypress
        if (s1_pressed()) {
            config_menu();
        }
        if (seconds_since_last_data > 2) {
                        // request OSD Data from NC every 100ms
                        usart1_request_mk_data(1, 'o', 100);
                        seconds_since_last_data = 0;
        }
    }
#endif
    return 0;
}
 

Rev 401	Rev 402
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	#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		36
37	/* TODO:	37	/* TODO:
38	* - verifiy correctness of values	38	* - verifiy correctness of values
39	* - clean up code :)	39	* - clean up code :)
40	*/	40	*/
41		41
42	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	42	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
43	// data structs not needed for character flashin	43	// data structs not needed for character flashin
44	#include "mk-data-structs.h"	44	#include "mk-data-structs.h"
45		45
46	/* ##########################################################################	46	/* ##########################################################################
47	* global definitions and global vars	47	* global definitions and global vars
48	* ##########################################################################*/	48	* ##########################################################################*/
49		49
50	volatile uint16_t setsReceived = 0;	50	volatile uint16_t setsReceived = 0;
51		51
52	volatile NaviData_t naviData;	52	volatile NaviData_t naviData;
53	volatile DebugOut_t debugData;	53	volatile DebugOut_t debugData;
54		54
55	// cache old vars for blinking attribute, checkup is faster than full	55	// cache old vars for blinking attribute, checkup is faster than full
56	// attribute write each time	56	// attribute write each time
57	volatile uint8_t last_UBat = 255;	57	volatile uint8_t last_UBat = 255;
58	volatile uint8_t last_RC_Quality = 255;	58	volatile uint8_t last_RC_Quality = 255;
59		59
60	// 16bit should be enough, normal LiPos don't last that long	60	// 16bit should be enough, normal LiPos don't last that long
61	volatile uint16_t uptime = 0;	61	volatile uint16_t uptime = 0;
62	volatile uint16_t timer = 0;	62	volatile uint16_t timer = 0;
63		63
64	// remember last time data was received	64	// remember last time data was received
65	volatile uint8_t seconds_since_last_data = 0;	65	volatile uint8_t seconds_since_last_data = 0;
66		66
67	// store stats description in progmem to save space	67	// store stats description in progmem to save space
68	char stats_item_0[] PROGMEM = "max Altitude:";	68	char stats_item_0[] PROGMEM = "max Altitude:";
69	char stats_item_1[] PROGMEM = "max Speed :";	69	char stats_item_1[] PROGMEM = "max Speed :";
70	char stats_item_2[] PROGMEM = "max Distance:";	70	char stats_item_2[] PROGMEM = "max Distance:";
71	char stats_item_3[] PROGMEM = "min voltage :";	71	char stats_item_3[] PROGMEM = "min voltage :";
72	char stats_item_4[] PROGMEM = "max time :";	72	char stats_item_4[] PROGMEM = "max time :";
73	char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,	73	char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
74	stats_item_3, stats_item_4};	74	stats_item_3, stats_item_4};
75		75
76	// store more fixed strings in progmen	76	// store more fixed strings in progmen
77	char ON[] PROGMEM = "ON ";	77	char ON[] PROGMEM = "ON ";
78	char OFF[] PROGMEM = "OFF";	78	char OFF[] PROGMEM = "OFF";
79		79
80	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	80	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
81		81
82	// general PAL\|NTSC distingiusch stuff	82	// general PAL\|NTSC distingiusch stuff
83	uint8_t top_line = 1;	83	uint8_t top_line = 1;
84	uint8_t bottom_line = 14;	84	uint8_t bottom_line = 14;
85		85
86	// Flags	86	// Flags
87	uint8_t COSD_FLAGS = 0;	87	uint8_t COSD_FLAGS = 0;
88		88
89	/* ##########################################################################	89	/* ##########################################################################
90	* debounce buttons	90	* debounce buttons
91	* ##########################################################################*/	91	* ##########################################################################*/
92	int s1_pressed() {	92	int s1_pressed() {
93	if (S1_PRESSED) {	93	if (S1_PRESSED) {
94	_delay_ms(25);	94	_delay_ms(25);
95	if (S1_PRESSED) return 1;	95	if (S1_PRESSED) return 1;
96	}	96	}
97	return 0;	97	return 0;
98	}	98	}
99		99
100	int s2_pressed() {	100	int s2_pressed() {
101	if (S2_PRESSED) {	101	if (S2_PRESSED) {
102	_delay_ms(25);	102	_delay_ms(25);
103	if (S2_PRESSED) return 1;	103	if (S2_PRESSED) return 1;
104	}	104	}
105	return 0;	105	return 0;
106	}	106	}
107		107
108	/* ##########################################################################	108	/* ##########################################################################
109	* Interrupt handler	109	* Interrupt handler
110	* ##########################################################################*/	110	* ##########################################################################*/
111	/**	111	/**
112	* handler for undefined Interrupts	112	* handler for undefined Interrupts
113	* if not defined AVR will reset in case any unhandled interrupts occur	113	* if not defined AVR will reset in case any unhandled interrupts occur
114	*/	114	*/
115	ISR(__vector_default) {	115	ISR(__vector_default) {
116	asm("nop");	116	asm("nop");
117	}	117	}
118		118
119	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	119	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
120	/* ##########################################################################	120	/* ##########################################################################
121	* timer stuff	121	* timer stuff
122	* ##########################################################################*/	122	* ##########################################################################*/
123	/**	123	/**
124	* timer kicks in every 1000uS ^= 1ms	124	* timer kicks in every 1000uS ^= 1ms
125	*/	125	*/
126	ISR(TIMER0_OVF_vect) {	126	ISR(TIMER0_OVF_vect) {
127	OCR0 = 15; // preload	127	OCR0 = 15; // preload
128	if (!timer--) {	128	if (!timer--) {
129	uptime++;	129	uptime++;
130	timer = 999;	130	timer = 999;
131	seconds_since_last_data++;	131	seconds_since_last_data++;
132	}	132	}
133	}	133	}
134		134
135		135
136	/* ##########################################################################	136	/* ##########################################################################
137	* A simple config menu for the flags	137	* A simple config menu for the flags
138	* ##########################################################################*/	138	* ##########################################################################*/
139		139
140	/**	140	/**
141	* helper function for menu updating	141	* helper function for menu updating
142	*/	142	*/
143	void config_menu_drawings(uint8_t chosen) {	143	void config_menu_drawings(uint8_t chosen) {
144	// clear prevoius _cursor_	144	// clear prevoius _cursor_
145	write_ascii_string(3, (chosen + 5) % 8, " ");	145	write_ascii_string(3, (chosen + 5) % 8, " ");
146	// draw current _cursor_	146	// draw current _cursor_
147	write_ascii_string(3, chosen + 5, ">");	147	write_ascii_string(3, chosen + 5, ">");
148	if (COSD_FLAGS & COSD_FLAG_HUD) {	148	if (COSD_FLAGS & COSD_FLAG_HUD) {
149	write_ascii_string_pgm(23, 5, ON);	149	write_ascii_string_pgm(23, 5, ON);
150	} else {	150	} else {
151	write_ascii_string_pgm(23, 5, OFF);	151	write_ascii_string_pgm(23, 5, OFF);
152	}	152	}
153	if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {	153	if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) {
154	write_ascii_string_pgm(23, 6, ON);	154	write_ascii_string_pgm(23, 6, ON);
155	} else {	155	} else {
156	write_ascii_string_pgm(23, 6, OFF);	156	write_ascii_string_pgm(23, 6, OFF);
157	}	157	}
158	if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {	158	if (COSD_FLAGS & COSD_FLAG_BIGVARIO) {
159	write_ascii_string_pgm(23, 7, ON);	159	write_ascii_string_pgm(23, 7, ON);
160	} else {	160	} else {
161	write_ascii_string_pgm(23, 7, OFF);	161	write_ascii_string_pgm(23, 7, OFF);
162	}	162	}
163	if (COSD_FLAGS & COSD_FLAG_STATS) {	163	if (COSD_FLAGS & COSD_FLAG_STATS) {
164	write_ascii_string_pgm(23, 8, ON);	164	write_ascii_string_pgm(23, 8, ON);
165	} else {	165	} else {
166	write_ascii_string_pgm(23, 8, OFF);	166	write_ascii_string_pgm(23, 8, OFF);
167	}	167	}
168	if (COSD_FLAGS & COSD_FLAG_WARNINGS) {	168	if (COSD_FLAGS & COSD_FLAG_WARNINGS) {
169	write_ascii_string_pgm(23, 9, ON);	169	write_ascii_string_pgm(23, 9, ON);
170	} else {	170	} else {
171	write_ascii_string_pgm(23, 9, OFF);	171	write_ascii_string_pgm(23, 9, OFF);
172	}	172	}
173	}	173	}
174		174
175	/**	175	/**
176	* some sort of clicking response in the menu	176	* some sort of clicking response in the menu
177	*/	177	*/
178	void config_menu_doclick(uint8_t chosen, char** menu) {	178	void config_menu_doclick(uint8_t chosen, char** menu) {
179	write_ascii_string(4, chosen + 5, "DONE ");	179	write_ascii_string(4, chosen + 5, "DONE ");
180	_delay_ms(1000);	180	_delay_ms(1000);
181	write_ascii_string(4, chosen + 5, menu[chosen]);	181	write_ascii_string(4, chosen + 5, menu[chosen]);
182	}	182	}
183		183
184	/**	184	/**
185	* a simple config menu tryout	185	* a simple config menu tryout
186	*/	186	*/
187	void config_menu(void) {	187	void config_menu(void) {
188	// disable interrupts (makes the menu more smoothely)	188	// disable interrupts (makes the menu more smoothely)
189	cli();	189	cli();
190		190
191	// clear screen	191	// clear screen
192	clear();	192	clear();
193		193
194	char* menu[9] = {"Full HUD",	194	char* menu[9] = {"Full HUD",
195	"Art.Horizon in HUD",	195	"Art.Horizon in HUD",
196	"Big Vario bar",	196	"Big Vario bar",
197	"Statistics",	197	"Statistics",
198	"Warnings", // TODO: do it!	198	"Warnings", // TODO: do it!
199	"Reset uptime",	199	"Reset uptime",
200	"Request OSD-data",	200	"Request OSD-data",
201	"Disable Debug-data",	201	"Disable Debug-data",
202	"EXIT"};	202	"EXIT"};
203		203
204	uint8_t inmenu = 1;	204	uint8_t inmenu = 1;
205	uint8_t chosen = 0;	205	uint8_t chosen = 0;
206	write_ascii_string(6, 2, "C-OSD Config Menu");	206	write_ascii_string(6, 2, "C-OSD Config Menu");
207		207
208	// wait a bit before doing stuff so user has chance to release button	208	// wait a bit before doing stuff so user has chance to release button
209	_delay_ms(250);	209	_delay_ms(250);
210		210
211	write_ascii_string(4, 5, menu[0]);	211	write_ascii_string(4, 5, menu[0]);
212	write_ascii_string(4, 6, menu[1]);	212	write_ascii_string(4, 6, menu[1]);
213	write_ascii_string(4, 7, menu[2]);	213	write_ascii_string(4, 7, menu[2]);
214	write_ascii_string(4, 8, menu[3]);	214	write_ascii_string(4, 8, menu[3]);
215	write_ascii_string(4, 9, menu[4]);	215	write_ascii_string(4, 9, menu[4]);
216	write_ascii_string(4, 10, menu[5]);	216	write_ascii_string(4, 10, menu[5]);
217	write_ascii_string(4, 11, menu[6]);	217	write_ascii_string(4, 11, menu[6]);
218	write_ascii_string(4, 12, menu[7]);	218	write_ascii_string(4, 12, menu[7]);
219	write_ascii_string(4, 13, menu[8]);	219	write_ascii_string(4, 13, menu[8]);
220		220
221	config_menu_drawings(chosen);	221	config_menu_drawings(chosen);
222		222
223	while (inmenu) {	223	while (inmenu) {
224	if (s2_pressed()) {	224	if (s2_pressed()) {
225	write_ascii_string(3, chosen+5, " ");	225	write_ascii_string(3, chosen+5, " ");
226	chosen = (chosen + 1) % 9;	226	chosen = (chosen + 1) % 9;
227	write_ascii_string(3, chosen+5, ">");	227	write_ascii_string(3, chosen+5, ">");
228	_delay_ms(500);	228	_delay_ms(500);
229	} else if (s1_pressed()) {	229	} else if (s1_pressed()) {
230	switch (chosen) {	230	switch (chosen) {
231	case 0: // full HUD	231	case 0: // full HUD
232	COSD_FLAGS ^= COSD_FLAG_HUD;	232	COSD_FLAGS ^= COSD_FLAG_HUD;
233	config_menu_drawings(chosen);	233	config_menu_drawings(chosen);
234	break;	234	break;
235	case 1: // art horizon	235	case 1: // art horizon
236	COSD_FLAGS ^= COSD_FLAG_ARTHORIZON;	236	COSD_FLAGS ^= COSD_FLAG_ARTHORIZON;
237	config_menu_drawings(chosen);	237	config_menu_drawings(chosen);
238	break;	238	break;
239	case 2: // big vario	239	case 2: // big vario
240	COSD_FLAGS ^= COSD_FLAG_BIGVARIO;	240	COSD_FLAGS ^= COSD_FLAG_BIGVARIO;
241	config_menu_drawings(chosen);	241	config_menu_drawings(chosen);
242	break;	242	break;
243	case 3: // statistics	243	case 3: // statistics
244	COSD_FLAGS ^= COSD_FLAG_STATS;	244	COSD_FLAGS ^= COSD_FLAG_STATS;
245	config_menu_drawings(chosen);	245	config_menu_drawings(chosen);
246	break;	246	break;
247	case 4: // warnings	247	case 4: // warnings
248	COSD_FLAGS ^= COSD_FLAG_WARNINGS;	248	COSD_FLAGS ^= COSD_FLAG_WARNINGS;
249	config_menu_drawings(chosen);	249	config_menu_drawings(chosen);
250	break;	250	break;
251	case 5: // reset uptime	251	case 5: // reset uptime
252	uptime = 0;	252	uptime = 0;
253	config_menu_doclick(chosen, menu);	253	config_menu_doclick(chosen, menu);
254	break;	254	break;
255	case 6: // re-request OSD data	255	case 6: // re-request OSD data
256	// request OSD Data from NC every 100ms	256	// request OSD Data from NC every 100ms
257	usart1_request_mk_data(1, 'o', 100);	257	usart1_request_mk_data(1, 'o', 100);
258	config_menu_doclick(chosen, menu);	258	config_menu_doclick(chosen, menu);
259	break;	259	break;
260	case 7: // disable debug data	260	case 7: // disable debug data
261	// disable sending of debug data	261	// disable sending of debug data
262	// may result in smoother ddata display	262	// may result in smoother ddata display
263	usart1_request_mk_data(0, 'd', 0);	263	usart1_request_mk_data(0, 'd', 0);
264	config_menu_doclick(chosen, menu);	264	config_menu_doclick(chosen, menu);
265	break;	265	break;
266	case 8: // exit	266	case 8: // exit
267	inmenu = 0;	267	inmenu = 0;
268	break;	268	break;
269	}	269	}
270	_delay_ms(250);	270	_delay_ms(250);
271	}	271	}
272	}	272	}
273		273
274	// clear screen up again	274	// clear screen up again
275	clear();	275	clear();
276		276
277	// update flags to paint display again if needed	277	// update flags to paint display again if needed
278	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;	278	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
279		279
280	// enable interrupts again	280	// enable interrupts again
281	sei();	281	sei();
282	}	282	}
283		283
284	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	284	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
285	/* ##########################################################################	285	/* ##########################################################################
286	* MAIN	286	* MAIN
287	* ##########################################################################*/	287	* ##########################################################################*/
288	int main(void) {	288	int main(void) {
289	// set up FLAGS, compiler should flatten this one	289	// set up FLAGS, compiler should flatten this one
290	COSD_FLAGS = (NTSC << 0);	290	COSD_FLAGS = (NTSC << 0);
291	COSD_FLAGS \|= (HUD << 1);	291	COSD_FLAGS \|= (HUD << 1);
292	COSD_FLAGS \|= (ARTHORIZON << 2);	292	COSD_FLAGS \|= (ARTHORIZON << 2);
293	COSD_FLAGS \|= (BIGVARIO << 3);	293	COSD_FLAGS \|= (BIGVARIO << 3);
294	COSD_FLAGS \|= (STATS << 4);	294	COSD_FLAGS \|= (STATS << 4);
295	COSD_FLAGS \|= (WARNINGS << 5);	295	COSD_FLAGS \|= (WARNINGS << 5);
296		296
297	// set up Atmega162 Ports	297	// set up Atmega162 Ports
298	DDRA \|= (1 << PA1); // PA1 output (/CS)	298	DDRA \|= (1 << PA1); // PA1 output (/CS)
299	MAX_CS_HIGH	299	MAX_CS_HIGH
300	DDRA \|= (1 << PA2); // PA2 output (SDIN)	300	DDRA \|= (1 << PA2); // PA2 output (SDIN)
301	MAX_SDIN_LOW	301	MAX_SDIN_LOW
302	DDRA \|= (1 << PA3); // PA3 output (SCLK)	302	DDRA \|= (1 << PA3); // PA3 output (SCLK)
303	MAX_SCLK_LOW	303	MAX_SCLK_LOW
304	DDRA \|= (1 << PA5); // PA5 output (RESET)	304	DDRA \|= (1 << PA5); // PA5 output (RESET)
305	MAX_RESET_HIGH	305	MAX_RESET_HIGH
306		306
307	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)	307	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
308	LED1_OFF	308	LED1_OFF
309	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)	309	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
310	LED2_OFF	310	LED2_OFF
311	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)	311	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
312	LED3_OFF	312	LED3_OFF
313	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)	313	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
314	LED4_OFF	314	LED4_OFF
315		315
316	DDRC &= ~(1 << PC4); // PC4 input (MODE)	316	DDRC &= ~(1 << PC4); // PC4 input (MODE)
317	PORTC \|= (1 << PC4); // pullup	317	PORTC \|= (1 << PC4); // pullup
318	DDRC &= ~(1 << PC5); // PC5 input (SET)	318	DDRC &= ~(1 << PC5); // PC5 input (SET)
319	PORTC \|= (1 << PC5); // pullup	319	PORTC \|= (1 << PC5); // pullup
320		320
321	// set up top and bottom lines	321	// set up top and bottom lines
322	if (COSD_FLAGS & COSD_FLAG_NTSC) {	322	if (COSD_FLAGS & COSD_FLAG_NTSC) {
323	bottom_line = 12;	323	bottom_line = 12;
324	} else {	324	} else {
325	bottom_line = 14;	325	bottom_line = 14;
326	}	326	}
327		327
328	// reset the MAX7456 to be sure any undefined states do no harm	328	// reset the MAX7456 to be sure any undefined states do no harm
329	MAX_RESET_LOW	329	MAX_RESET_LOW
330	MAX_RESET_HIGH	330	MAX_RESET_HIGH
331		331
332	// give the FC/NC and the maxim time to come up	332	// give the FC/NC and the maxim time to come up
333	LED4_ON	333	LED4_ON
334	_delay_ms(2000);	334	_delay_ms(2000);
335		335
336	LED4_OFF	336	LED4_OFF
337		337
338		338
339	//Pushing NEW chars to the MAX7456	339	//Pushing NEW chars to the MAX7456
340	#if (WRITECHARS != -1)	340	#if (WRITECHARS != -1)
341	// DISABLE display (VM0)	341	// DISABLE display (VM0)
342	spi_send_byte(0x00, 0b00000000);	342	spi_send_byte(0x00, 0b00000000);
343	#include "characters.c"	343	#include "characters.c"
344		344
345	#endif	345	#endif
346		346
347	// Setup Video Mode	347	// Setup Video Mode
348	if (COSD_FLAGS & COSD_FLAG_NTSC) {	348	if (COSD_FLAGS & COSD_FLAG_NTSC) {
349	// NTSC + enable display immediately (VM0)	349	// NTSC + enable display immediately (VM0)
350	spi_send_byte(0x00, 0b00001000);	350	spi_send_byte(0x00, 0b00001000);
351	} else {	351	} else {
352	// PAL + enable display immediately (VM0)	352	// PAL + enable display immediately (VM0)
353	spi_send_byte(0x00, 0b01001000);	353	spi_send_byte(0x00, 0b01001000);
354	}	354	}
355		-
356	// clear all display-mem (DMM)	-
357	spi_send_byte(0x04, 0b00000100);	-
358		-
359	// clearing takes 12uS according to maxim so lets wait longer	-
360	_delay_us(120);	-
361		355
362	// 8bit mode	356	// 8bit mode
363	spi_send_byte(0x04, 0b01000000);	357	spi_send_byte(0x04, 0b01000000);
364		358
365	// write blank chars to whole screen	359	// clear display
366	clear();	360	clear();
367		361
368	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	362	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
369	// init usart	363	// init usart
370	usart1_init();	364	usart1_init();
371		365
372	// set up timer	366	// set up timer
373	TCCR0 \|= (1 << CS00) \| (1 << CS01); // timer0 prescaler 64	367	TCCR0 \|= (1 << CS00) \| (1 << CS01); // timer0 prescaler 64
374	OCR0 = 15; // preload	368	OCR0 = 15; // preload
375	TIMSK \|= (1 << TOIE0); // enable overflow timer0	369	TIMSK \|= (1 << TOIE0); // enable overflow timer0
376		370
377	// enable interrupts	371	// enable interrupts
378	sei();	372	sei();
379	#endif	373	#endif
380		374
381	//write_ascii_string(2, 7, " CaScAdE ");	375	//write_ascii_string(2, 7, " CaScAdE ");
382	//write_ascii_string(2, 8, "is TESTING his open source");	376	//write_ascii_string(2, 8, "is TESTING his open source");
383	//write_ascii_string(2, 9, " EPi OSD Firmware");	377	//write_ascii_string(2, 9, " EPi OSD Firmware");
384		378
385	// we are ready	379	// we are ready
386	LED3_ON	380	LED3_ON
387		381
388	#if ALLCHARSDEBUG \| (WRITECHARS != -1)	382	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
389	clear();	383	clear();
390	write_all_chars();	384	write_all_chars();
391	#else	385	#else
392	// clear serial screen	386	// clear serial screen
393	//usart1_puts("\x1B[2J\x1B[H");	387	//usart1_puts("\x1B[2J\x1B[H");
394	//usart1_puts("hello world!\r\n");	388	//usart1_puts("hello world!\r\n");
395		389
396		390
397	// request data ever 100ms from FC;	391	// request data ever 100ms from FC;
398	//usart1_request_mk_data(0, 'd', 100);	392	//usart1_request_mk_data(0, 'd', 100);
399		393
400	// request OSD Data from NC every 100ms	394	// request OSD Data from NC every 100ms
401	usart1_request_mk_data(1, 'o', 100);	395	usart1_request_mk_data(1, 'o', 100);
402		396
403	// and disable debug...	397	// and disable debug...
404	usart1_request_mk_data(0, 'd', 0);	398	usart1_request_mk_data(0, 'd', 0);
405		399
406	// stats for after flight	400	// stats for after flight
407	int16_t max_Altimeter = 0;	401	int16_t max_Altimeter = 0;
408	uint16_t max_GroundSpeed = 0;	402	uint16_t max_GroundSpeed = 0;
409	int16_t max_Distance = 0;	403	int16_t max_Distance = 0;
410	uint8_t min_UBat = 255;	404	uint8_t min_UBat = 255;
411	uint16_t max_FlyingTime = 0;	405	uint16_t max_FlyingTime = 0;
412		406
413	// flags from last round to check for changes	407	// flags from last round to check for changes
414	uint8_t old_MKFlags = 0;	408	uint8_t old_MKFlags = 0;
415		409
416	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	410	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
417	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	411	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
418		412
419	while (1) {	413	while (1) {
420	// write icons at init or after menu/mode-switch	414	// write icons at init or after menu/mode-switch
421	if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) {	415	if (!(COSD_FLAGS & COSD_ICONS_WRITTEN) && (COSD_FLAGS & COSD_FLAG_HUD)) {
422	write_char_xy(5, top_line, 0xCB); // km/h	416	write_char_xy(5, top_line, 0xCB); // km/h
423	write_char_xy(10, top_line, 0xCA); // RC-transmitter	417	write_char_xy(10, top_line, 0xCA); // RC-transmitter
424	write_char_xy(16, top_line, 0xD0); // degree symbol	418	write_char_xy(16, top_line, 0xD0); // degree symbol
425	write_char_xy(27, top_line, 0xCC); // small meters m height	419	write_char_xy(27, top_line, 0xCC); // small meters m height
426	write_char_xy(20, top_line+1, 0xB0); // left circle	420	write_char_xy(20, top_line+1, 0xB0); // left circle
427	write_char_xy(22, top_line+1, 0xB2); // right circle	421	write_char_xy(22, top_line+1, 0xB2); // right circle
428	write_char_xy(27, top_line+1, 0xCC); // small meters m home	422	write_char_xy(27, top_line+1, 0xCC); // small meters m home
429	write_char_xy(7, bottom_line, 0x9E); // small v	423	write_char_xy(7, bottom_line, 0x9E); // small v
430	write_char_xy(14, bottom_line, 0xD1); // on clock	424	write_char_xy(14, bottom_line, 0xD1); // on clock
431	write_char_xy(22, bottom_line, 0xD2); // fly clock	425	write_char_xy(22, bottom_line, 0xD2); // fly clock
432	write_char_xy(26, bottom_line, 0xC8); // sat1	426	write_char_xy(26, bottom_line, 0xC8); // sat1
433	write_char_xy(27, bottom_line, 0xC9); // sat2	427	write_char_xy(27, bottom_line, 0xC9); // sat2
434	COSD_FLAGS \|= COSD_ICONS_WRITTEN;	428	COSD_FLAGS \|= COSD_ICONS_WRITTEN;
435	}	429	}
436	if (rxd_buffer_locked) {	430	if (rxd_buffer_locked) {
437	if (COSD_FLAGS & COSD_FLAG_HUD) {	431	if (COSD_FLAGS & COSD_FLAG_HUD) {
438	if (rxd_buffer[2] == 'D') { // FC Data	432	if (rxd_buffer[2] == 'D') { // FC Data
439	/*Decode64();	433	/*Decode64();
440	debugData = ((DebugOut_t) pRxData);	434	debugData = ((DebugOut_t) pRxData);
441	write_number_s(12, 2, RxDataLen);	435	write_number_s(12, 2, RxDataLen);
442	write_number_s(20, 2, setsReceived++);	436	write_number_s(20, 2, setsReceived++);
443	write_number_s(12, 3, debugData.Analog[0]); // AngleNick	437	write_number_s(12, 3, debugData.Analog[0]); // AngleNick
444	write_number_s(12, 4, debugData.Analog[1]); // AngleRoll	438	write_number_s(12, 4, debugData.Analog[1]); // AngleRoll
445	write_number_s(12, 5, debugData.Analog[5]); // Height	439	write_number_s(12, 5, debugData.Analog[5]); // Height
446	write_number_s(12, 6, debugData.Analog[9]); // Voltage	440	write_number_s(12, 6, debugData.Analog[9]); // Voltage
447	write_number_s(12, 7, debugData.Analog[10]);// RC Signal	441	write_number_s(12, 7, debugData.Analog[10]);// RC Signal
448	write_number_s(12, 8, debugData.Analog[11]);// Gyro compass	442	write_number_s(12, 8, debugData.Analog[11]);// Gyro compass
449	seconds_since_last_data = 0;*/	443	seconds_since_last_data = 0;*/
450	} else if (rxd_buffer[2] == 'O') { // NC OSD Data	444	} else if (rxd_buffer[2] == 'O') { // NC OSD Data
451	Decode64();	445	Decode64();
452	naviData = ((NaviData_t) pRxData);	446	naviData = ((NaviData_t) pRxData);
453		447
454	// first line	448	// first line
455	write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);	449	write_ndigit_number_u(2, top_line, (uint16_t) (((uint32_t) naviData.GroundSpeed * (uint32_t)9) / (uint32_t)250), 100, 0);
456		450
457	write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0);	451	write_ndigit_number_u(7, top_line, naviData.RC_Quality, 100, 0);
458	if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {	452	if (naviData.RC_Quality <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) {
459	for (uint8_t x = 0; x < 4; x++)	453	for (uint8_t x = 0; x < 4; x++)
460	write_char_att_xy(7 + x, top_line, BLINK);	454	write_char_att_xy(7 + x, top_line, BLINK);
461	} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {	455	} else if (naviData.RC_Quality > RCLVL_WRN && last_RC_Quality <= RCLVL_WRN) {
462	for (uint8_t x = 0; x < 4; x++)	456	for (uint8_t x = 0; x < 4; x++)
463	write_char_att_xy(7 + x, top_line, 0);	457	write_char_att_xy(7 + x, top_line, 0);
464	}	458	}
465	last_RC_Quality = naviData.RC_Quality;	459	last_RC_Quality = naviData.RC_Quality;
466		460
467	write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0);	461	write_ndigit_number_u(13, top_line, naviData.CompassHeading, 100, 0);
468		462
469	write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);	463	write_ascii_string(17, top_line, directions[heading_conv(naviData.CompassHeading)]);
470		464
471	draw_variometer(21, top_line, naviData.Variometer);	465	draw_variometer(21, top_line, naviData.Variometer);
472		466
473	//note:lephisto:according to several sources it's /30	467	//note:lephisto:according to several sources it's /30
474	if (naviData.Altimeter > 300 \|\| naviData.Altimeter < -300) {	468	if (naviData.Altimeter > 300 \|\| naviData.Altimeter < -300) {
475	// above 10m only write full meters	469	// above 10m only write full meters
476	write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0);	470	write_ndigit_number_s(23, top_line, naviData.Altimeter / 30, 1000, 0);
477	} else {	471	} else {
478	// up to 10m write meters.dm	472	// up to 10m write meters.dm
479	//write_number_u_10th(21, top_line, naviData.Altimeter / 3);	473	//write_number_u_10th(21, top_line, naviData.Altimeter / 3);
480	write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0);	474	write_ndigit_number_s_10th(23, top_line, naviData.Altimeter / 3, 100, 0);
481	}	475	}
482		476
483	// seccond line	477	// seccond line
484	draw_compass(11, top_line + 1, naviData.CompassHeading);	478	draw_compass(11, top_line + 1, naviData.CompassHeading);
485		479
486	// TODO: verify correctness	480	// TODO: verify correctness
487	uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;	481	uint16_t heading_home = (naviData.HomePositionDeviation.Bearing + 360 - naviData.CompassHeading) % 360;
488	//write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);	482	//write_char_xy(21, top_line + 1, arrowdir[heading_conv(heading_home)]);
489	// finer resolution, 0xa0 is first character and we add the index 0 <= index < 16	483	// finer resolution, 0xa0 is first character and we add the index 0 <= index < 16
490	write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));	484	write_char_xy(21, top_line + 1, 0xa0 + heading_fine_conv(heading_home));
491		485
492	write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0);	486	write_ndigit_number_u(24, top_line + 1, naviData.HomePositionDeviation.Distance / 10, 100, 0);
493		487
494	// center	488	// center
495	if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running	489	if (naviData.MKFlags & FLAG_MOTOR_RUN) { // should be engines running
496	if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle	490	if (!(old_MKFlags & FLAG_MOTOR_RUN)) { // motors just started, clear middle
497	clear();	491	clear();
498	// update flags to paint display again if needed	492	// update flags to paint display again if needed
499	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;	493	COSD_FLAGS &= ~COSD_ICONS_WRITTEN;
500	}	494	}

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(root)/C-OSD/trunk/main.c @ 2601 - Rev 401 → 402