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| Rev 454 | Rev 455 | ||
|---|---|---|---|
| Line 112... | Line 112... | ||
| 112 | } |
112 | } |
| Line 113... | Line 113... | ||
| 113 | 113 | ||
| 114 | /* ########################################################################## |
114 | /* ########################################################################## |
| 115 | * Interrupt handler |
115 | * Interrupt handler |
| - | 116 | * ##########################################################################*/ |
|
| 116 | * ##########################################################################*/ |
117 | |
| 117 | /** |
118 | /** |
| 118 | * handler for undefined Interrupts |
119 | * handler for undefined Interrupts |
| 119 | * if not defined AVR will reset in case any unhandled interrupts occur |
120 | * if not defined AVR will reset in case any unhandled interrupts occur |
| 120 | */ |
121 | */ |
| Line 124... | Line 125... | ||
| 124 | 125 | ||
| 125 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
126 | #if !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
| 126 | /* ########################################################################## |
127 | /* ########################################################################## |
| 127 | * timer stuff |
128 | * timer stuff |
| - | 129 | * ##########################################################################*/ |
|
| 128 | * ##########################################################################*/ |
130 | |
| 129 | /** |
131 | /** |
| 130 | * timer kicks in every 1000uS ^= 1ms |
132 | * timer kicks in every 1000uS ^= 1ms |
| 131 | */ |
133 | */ |
| 132 | ISR(TIMER0_OVF_vect) { |
134 | ISR(TIMER0_OVF_vect) { |
| Line 293... | Line 295... | ||
| 293 | 295 | ||
| 294 | // enable interrupts again |
296 | // enable interrupts again |
| 295 | sei(); |
297 | sei(); |
| Line -... | Line 298... | ||
| - | 298 | } |
|
| - | 299 | ||
| - | 300 | /** |
|
| - | 301 | * auto config some stuff on startup, currently only battery cells |
|
| - | 302 | * TODO: this is testing stuff, strings should go progmem and so on... |
|
| - | 303 | */ |
|
| - | 304 | void auto_config(uint8_t UBat, uint8_t* min_UBat) { |
|
| - | 305 | clear(); |
|
| - | 306 | // fix for min_bat glitch caused by data only gathered during motors up |
|
| - | 307 | *min_UBat = UBat; |
|
| - | 308 | write_ascii_string(2, 2, "C-OSD Initialisation"); |
|
| - | 309 | #if FCONLY |
|
| - | 310 | write_ascii_string(2, 3, "FC only Mode"); |
|
| - | 311 | #else |
|
| - | 312 | write_ascii_string(2, 3, "NaviCtrl Mode"); |
|
| - | 313 | #endif |
|
| - | 314 | uint8_t cellnum = 0; |
|
| - | 315 | if (CELL_NUM == -1) { |
|
| - | 316 | write_ascii_string(2, 5, "Guessing Number of Cells"); |
|
| - | 317 | do { |
|
| - | 318 | cellnum++; |
|
| - | 319 | } while (UBat > ((cellnum * CELL_VOLT_MAX) + 10)); |
|
| - | 320 | } else { |
|
| - | 321 | cellnum = CELL_NUM; |
|
| - | 322 | } |
|
| - | 323 | min_voltage = cellnum * CELL_VOLT_MIN; |
|
| - | 324 | max_voltage = cellnum * CELL_VOLT_MAX; |
|
| - | 325 | write_ascii_string(2, 7, "Number of Cells:"); |
|
| - | 326 | write_ndigit_number_u(21, 7, cellnum, 1, 0); |
|
| - | 327 | write_ascii_string(2, 8, "Warn Voltage :"); |
|
| - | 328 | write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0); |
|
| - | 329 | write_ascii_string(2, 9, "Max Voltage :"); |
|
| - | 330 | write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0); |
|
| - | 331 | _delay_ms(200); |
|
| - | 332 | clear(); |
|
| - | 333 | // update flags to paint display again because of clear |
|
| - | 334 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
|
| 296 | } |
335 | } |
| - | 336 | ||
| 297 | 337 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
|
| 298 | #endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1)) |
338 | |
| 299 | /* ########################################################################## |
339 | /* ########################################################################## |
| 300 | * MAIN |
340 | * MAIN |
| 301 | * ##########################################################################*/ |
341 | * ##########################################################################*/ |
| Line 353... | Line 393... | ||
| 353 | //Pushing NEW chars to the MAX7456 |
393 | //Pushing NEW chars to the MAX7456 |
| 354 | #if (WRITECHARS != -1) |
394 | #if (WRITECHARS != -1) |
| 355 | // DISABLE display (VM0) |
395 | // DISABLE display (VM0) |
| 356 | spi_send_byte(0x00, 0b00000000); |
396 | spi_send_byte(0x00, 0b00000000); |
| 357 | #include "characters.c" |
397 | #include "characters.c" |
| 358 | - | ||
| 359 | #endif |
398 | #endif |
| Line 360... | Line 399... | ||
| 360 | 399 | ||
| 361 | // Setup Video Mode |
400 | // Setup Video Mode |
| 362 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
401 | if (COSD_FLAGS & COSD_FLAG_NTSC) { |
| Line 404... | Line 443... | ||
| 404 | write_all_chars(); |
443 | write_all_chars(); |
| 405 | #else |
444 | #else |
| 406 | // clear serial screen |
445 | // clear serial screen |
| 407 | //usart1_puts("\x1B[2J\x1B[H"); |
446 | //usart1_puts("\x1B[2J\x1B[H"); |
| 408 | //usart1_puts("hello world!\r\n"); |
447 | //usart1_puts("hello world!\r\n"); |
| 409 | - | ||
| 410 | #if FCONLY |
448 | #if FCONLY |
| 411 | // request data ever 100ms from FC; |
449 | // request data ever 100ms from FC; |
| 412 | usart1_request_mk_data(0, 'd', 100); |
450 | usart1_request_mk_data(0, 'd', 100); |
| 413 | #else |
451 | #else |
| 414 | // request OSD Data from NC every 100ms |
452 | // request OSD Data from NC every 100ms |
| Line 460... | Line 498... | ||
| 460 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
498 | if (COSD_FLAGS & COSD_FLAG_HUD) { |
| 461 | #if FCONLY |
499 | #if FCONLY |
| 462 | if (rxd_buffer[2] == 'D') { // FC Data |
500 | if (rxd_buffer[2] == 'D') { // FC Data |
| 463 | Decode64(); |
501 | Decode64(); |
| 464 | debugData = *((DebugOut_t*) pRxData); |
502 | debugData = *((DebugOut_t*) pRxData); |
| - | 503 | ||
| - | 504 | // init on first data retrival, distinguished by last battery :) |
|
| 465 | write_ascii_string(2, 2, "FCONLY MODE"); |
505 | if (last_UBat == 255) { |
| - | 506 | auto_config(debugData.Analog[9], &min_UBat); |
|
| - | 507 | } |
|
| Line 466... | Line 508... | ||
| 466 | 508 | ||
| 467 | write_ndigit_number_u(7, top_line, debugData.Analog[10], 100, 0); |
509 | write_ndigit_number_u(7, top_line, debugData.Analog[10], 100, 0); |
| 468 | if (debugData.Analog[10] <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
510 | if (debugData.Analog[10] <= RCLVL_WRN && last_RC_Quality > RCLVL_WRN) { |
| 469 | for (uint8_t x = 0; x < 4; x++) |
511 | for (uint8_t x = 0; x < 4; x++) |
| Line 481... | Line 523... | ||
| 481 | } else { |
523 | } else { |
| 482 | // up to 10m write meters.dm |
524 | // up to 10m write meters.dm |
| 483 | write_ndigit_number_s_10th(23, top_line, debugData.Analog[5] / 3, 100, 0); |
525 | write_ndigit_number_s_10th(23, top_line, debugData.Analog[5] / 3, 100, 0); |
| 484 | } |
526 | } |
| Line -... | Line 527... | ||
| - | 527 | ||
| - | 528 | if (COSD_FLAGS & COSD_FLAG_ARTHORIZON) { |
|
| - | 529 | draw_artificial_horizon(top_line + 2, bottom_line - 1, naviData.AngleNick, naviData.AngleRoll); |
|
| - | 530 | } |
|
| 485 | 531 | ||
| 486 | draw_battery(2, bottom_line, min_voltage, debugData.Analog[9], max_voltage); |
532 | draw_battery(2, bottom_line, min_voltage, debugData.Analog[9], max_voltage); |
| 487 | write_ndigit_number_u_10th(3, bottom_line, debugData.Analog[9], 100, 0); |
533 | write_ndigit_number_u_10th(3, bottom_line, debugData.Analog[9], 100, 0); |
| 488 | if (debugData.Analog[9] <= min_voltage && last_UBat > min_voltage) { |
534 | if (debugData.Analog[9] <= min_voltage && last_UBat > min_voltage) { |
| 489 | for (uint8_t x = 2; x < 8; x++) |
535 | for (uint8_t x = 2; x < 8; x++) |
| Line 509... | Line 555... | ||
| 509 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
555 | if (rxd_buffer[2] == 'O') { // NC OSD Data |
| 510 | Decode64(); |
556 | Decode64(); |
| 511 | naviData = *((NaviData_t*) pRxData); |
557 | naviData = *((NaviData_t*) pRxData); |
| Line 512... | Line 558... | ||
| 512 | 558 | ||
| 513 | // init on first data retrival, distinguished by last battery :) |
- | |
| 514 | // TODO: this is testing stuff, strings should go progmem and so on... |
559 | // init on first data retrival, distinguished by last battery :) |
| 515 | if (last_UBat == 255) { |
- | |
| 516 | clear(); |
560 | if (last_UBat == 255) { |
| 517 | // fix for min_bat glitch caused by data only gathered during motors up |
- | |
| 518 | min_UBat = naviData.UBat; |
- | |
| 519 | write_ascii_string(2, 2, "C-OSD Initialisation"); |
- | |
| 520 | uint8_t cellnum = 0; |
- | |
| 521 | if (CELL_NUM == -1) { |
- | |
| 522 | write_ascii_string(2, 5, "Guessing Number of Cells"); |
- | |
| 523 | do { |
- | |
| 524 | cellnum++; |
- | |
| 525 | } while (naviData.UBat > ((cellnum * CELL_VOLT_MAX) + 10)); |
- | |
| 526 | } else { |
- | |
| 527 | cellnum = CELL_NUM; |
- | |
| 528 | } |
- | |
| 529 | min_voltage = cellnum * CELL_VOLT_MIN; |
- | |
| 530 | max_voltage = cellnum * CELL_VOLT_MAX; |
- | |
| 531 | write_ascii_string(2, 7, "Number of Cells:"); |
- | |
| 532 | write_ndigit_number_u(21, 7, cellnum, 1, 0); |
- | |
| 533 | write_ascii_string(2, 8, "Warn Voltage :"); |
- | |
| 534 | write_ndigit_number_s_10th(20, 8, min_voltage, 100, 0); |
- | |
| 535 | write_ascii_string(2, 9, "Max Voltage :"); |
- | |
| 536 | write_ndigit_number_s_10th(20, 9, max_voltage, 100, 0); |
- | |
| 537 | _delay_ms(200); |
- | |
| 538 | clear(); |
- | |
| 539 | // update flags to paint display again because of clear |
- | |
| 540 | COSD_FLAGS &= ~COSD_ICONS_WRITTEN; |
561 | auto_config(naviData.UBat, &min_UBat); |
| Line 541... | Line 562... | ||
| 541 | } |
562 | } |
| 542 | 563 | ||