WebSVN - Projects - Diff - Rev 474 and 477


/****************************************************************************
 *   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 + SVN *
 *   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"
#include "config.h"
#include "spi.h"
#include "buttons.h"
#include "ppm.h"
 
/* TODO:
 * - verifiy correctness of values
 * - clean up code :)
 */
 
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
// data structs not needed for character flashing
#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_5[] PROGMEM = "longitude   :";
char stats_item_6[] PROGMEM = "latitude    :";
char stats_item_7[] PROGMEM = "max current :";
char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
    stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
 
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))
 
// general PAL|NTSC distingiusch stuff
uint8_t top_line = 1;
uint8_t bottom_line = 14;
 
// battery voltages
uint8_t min_voltage = 0;
uint8_t max_voltage = 0;
 
// Flags
uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 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++;
    }
    // in case there is still some spi data to send do it now
    if (spi_ready && icnt) {
        SPDR = *iptr;
    }
}
#endif // ends !(ALLCHARSDEBUG|(WRITECHARS != -1))#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
 
    // 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"
#else
        // read out config for NTSC/PAL distinguishing
        get_eeprom(0);
#endif
 
        // Setup Video Mode
        if (COSD_FLAGS & COSD_FLAG_NTSC) {
            // NTSC + enable display immediately (VM0)
            spi_send_byte(0x00, 0b00001000);
 
                bottom_line = 12;
        } else {
            // PAL + enable display immediately (VM0)
            spi_send_byte(0x00, 0b01001000);
 
                bottom_line = 14;
        }
 
    /*// clear all display-mem (DMM)
    spi_send_byte(0x04, 0b00000100);
 
    // clearing takes 12uS according to maxim so lets wait longer
    _delay_us(120);
 
    // 8bit mode
    spi_send_byte(0x04, 0b01000000);*/
 
    // clear display memory and set to 8bit mode
    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
 
        // SPI setup
    DDRD |= (1 << PD2); // PD2 output (INT0)
    SpiMasterInit();
 
        // PPM detection setup
        ppm_init();
 
 
    // 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!123\r\n");
 
#if FCONLY
        // request data ever 100ms from FC;
        usart1_request_mk_data(0, 'd', 100);
#else
        // request OSD Data from NC every 100ms
        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;
    uint8_t min_UBat = 255;
#if !(FCONLY)
    uint16_t max_GroundSpeed = 0;
    int16_t max_Distance = 0;
    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};
#endif
 
    while (1) {
        // in case SPI is ready and there is nothing to send right now
        if (!icnt && spi_ready) {
            // correct transfer ends with d (done)
            if (spi_cmd_buffer[0] == 'd') {
                ampere = spi_cmd_buffer[1] << 8;
                ampere |= spi_cmd_buffer[2];
                                ampere_wasted = spi_cmd_buffer[3];
                                ampere_wasted = ampere_wasted << 8;
                                ampere_wasted |= spi_cmd_buffer[4];
                                ampere_wasted = ampere_wasted << 8;
                                ampere_wasted |= spi_cmd_buffer[5];
                                ampere_wasted = ampere_wasted << 8;
                                ampere_wasted |= spi_cmd_buffer[6];
                                //ampere = *((int16_t *) spi_cmd_buffer + 1);
                                //ampere_wasted = *((int32_t *) &spi_cmd_buffer + 3);
                                // if this is the first receival we should print the small A
                                if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {
                                        clear();
                                        COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;
                                        // update this flag
                        COSD_FLAGS2 |= COSD_FLAG_STROMREC;
                                }
                //write_ascii_char(8+4*30, 'v'); // valid
            } else {
                // update flags
                COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
                //write_ascii_char(8+4*30, 'i'); // invalid
            }
            spi_cmd_buffer[0] = 'A';
            spi_cmd_buffer[1] = 'B';
            spi_cmd_buffer[2] = 'C';
                        spi_cmd_buffer[3] = 'D';
                        spi_cmd_buffer[4] = 'E';
                        spi_cmd_buffer[5] = 'F';
                        spi_cmd_buffer[6] = 'G';
            StartTransfer((unsigned char*) spi_cmd_buffer, 7);
        }
        if (rxd_buffer_locked) {
#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
                    min_UBat = debugData.Analog[9];
                    init_cosd(debugData.Analog[9]);
                }
                #include "osd_fcmode_default.c"
            }
#else
            if (rxd_buffer[2] == 'O') { // NC OSD Data
                Decode64();
                naviData = *((NaviData_t*) pRxData);
 
                // init on first data retrival, distinguished by last battery :)
                if (last_UBat == 255) {
                    // fix for min_UBat
                    min_UBat = naviData.UBat;
                    init_cosd(naviData.UBat);
                }
                #include "osd_ncmode_default.c"
            }
#endif
            rxd_buffer_locked = 0;
        }
        // handle keypress
        if (s1_pressed()) {
            config_menu();
        }
        if (seconds_since_last_data > 2) {
#if FCONLY
            // request data ever 100ms from FC;
            usart1_request_mk_data(0, 'd', 100);
#else
            // request OSD Data from NC every 100ms
            usart1_request_mk_data(1, 'o', 100);
 
            // and disable debug...
            usart1_request_mk_data(0, 'd', 0);
 
                        // reset last time counter
                        seconds_since_last_data = 0;
#endif
        }
    }
#endif
    return 0;
}
 

Rev 474	Rev 477
1	/****************************************************************************	1	/****************************************************************************
2	* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *	2	* Copyright (C) 2009 by Claas Anders "CaScAdE" Rathje *
3	* admiralcascade@gmail.com *	3	* admiralcascade@gmail.com *
4	* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *	4	* Project-URL: http://www.mylifesucks.de/oss/c-osd/ *
5	* *	5	* *
6	* This program is free software; you can redistribute it and/or modify *	6	* This program is free software; you can redistribute it and/or modify *
7	* it under the terms of the GNU General Public License as published by *	7	* it under the terms of the GNU General Public License as published by *
8	* the Free Software Foundation; either version 2 of the License. *	8	* the Free Software Foundation; either version 2 of the License. *
9	* *	9	* *
10	* This program is distributed in the hope that it will be useful, *	10	* This program is distributed in the hope that it will be useful, *
11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *	11	* but WITHOUT ANY WARRANTY; without even the implied warranty of *
12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *	12	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13	* GNU General Public License for more details. *	13	* GNU General Public License for more details. *
14	* *	14	* *
15	* You should have received a copy of the GNU General Public License *	15	* You should have received a copy of the GNU General Public License *
16	* along with this program; if not, write to the *	16	* along with this program; if not, write to the *
17	* Free Software Foundation, Inc., *	17	* Free Software Foundation, Inc., *
18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *	18	* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19	* *	19	* *
20	* *	20	* *
21	* Credits to: *	21	* Credits to: *
22	* Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *	22	* Holger Buss & Ingo Busker from mikrokopter.de for the MK project + SVN *
23	* Gregor "killagreg" Stobrawa for making the MK code readable *	23	* Gregor "killagreg" Stobrawa for making the MK code readable *
24	* Klaus "akku" Buettner for the hardware *	24	* Klaus "akku" Buettner for the hardware *
25	* Manuel "KeyOz" Schrape for explaining the MK protocol to me *	25	* Manuel "KeyOz" Schrape for explaining the MK protocol to me *
26	****************************************************************************/	26	****************************************************************************/
27		27
28	#include <avr/io.h>	28	#include <avr/io.h>
29	#include <avr/interrupt.h>	29	#include <avr/interrupt.h>
30	#include <util/delay.h>	30	#include <util/delay.h>
31	#include <avr/pgmspace.h>	31	#include <avr/pgmspace.h>
32	#include "main.h"	32	#include "main.h"
33	#include "max7456_software_spi.h"	33	#include "max7456_software_spi.h"
34	#include "usart1.h"	34	#include "usart1.h"
35	#include "osd_helpers.h"	35	#include "osd_helpers.h"
36	#include "config.h"	36	#include "config.h"
37	#include "spi.h"	37	#include "spi.h"
38	#include "buttons.h"	38	#include "buttons.h"
-		39	#include "ppm.h"
39		40
40	/* TODO:	41	/* TODO:
41	* - verifiy correctness of values	42	* - verifiy correctness of values
42	* - clean up code :)	43	* - clean up code :)
43	*/	44	*/
44		45
45	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	46	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
46	// data structs not needed for character flashing	47	// data structs not needed for character flashing
47	#include "mk-data-structs.h"	48	#include "mk-data-structs.h"
48		49
49	/* ##########################################################################	50	/* ##########################################################################
50	* global definitions and global vars	51	* global definitions and global vars
51	* ##########################################################################*/	52	* ##########################################################################*/
52		53
53	volatile uint16_t setsReceived = 0;	54	volatile uint16_t setsReceived = 0;
54		55
55	volatile NaviData_t naviData;	56	volatile NaviData_t naviData;
56	volatile DebugOut_t debugData;	57	volatile DebugOut_t debugData;
57		58
58	// cache old vars for blinking attribute, checkup is faster than full	59	// cache old vars for blinking attribute, checkup is faster than full
59	// attribute write each time	60	// attribute write each time
60	volatile uint8_t last_UBat = 255;	61	volatile uint8_t last_UBat = 255;
61	volatile uint8_t last_RC_Quality = 255;	62	volatile uint8_t last_RC_Quality = 255;
62		63
63	// 16bit should be enough, normal LiPos don't last that long	64	// 16bit should be enough, normal LiPos don't last that long
64	volatile uint16_t uptime = 0;	65	volatile uint16_t uptime = 0;
65	volatile uint16_t timer = 0;	66	volatile uint16_t timer = 0;
66		67
67	// remember last time data was received	68	// remember last time data was received
68	volatile uint8_t seconds_since_last_data = 0;	69	volatile uint8_t seconds_since_last_data = 0;
69		70
70	// store stats description in progmem to save space	71	// store stats description in progmem to save space
71	char stats_item_0[] PROGMEM = "max Altitude:";	72	char stats_item_0[] PROGMEM = "max Altitude:";
72	char stats_item_1[] PROGMEM = "max Speed :";	73	char stats_item_1[] PROGMEM = "max Speed :";
73	char stats_item_2[] PROGMEM = "max Distance:";	74	char stats_item_2[] PROGMEM = "max Distance:";
74	char stats_item_3[] PROGMEM = "min voltage :";	75	char stats_item_3[] PROGMEM = "min voltage :";
75	char stats_item_4[] PROGMEM = "max time :";	76	char stats_item_4[] PROGMEM = "max time :";
76	char stats_item_5[] PROGMEM = "longitude :";	77	char stats_item_5[] PROGMEM = "longitude :";
77	char stats_item_6[] PROGMEM = "latitude :";	78	char stats_item_6[] PROGMEM = "latitude :";
78	char stats_item_7[] PROGMEM = "max current :";	79	char stats_item_7[] PROGMEM = "max current :";
79	char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,	80	char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
80	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};	81	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
81		82
82	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	83	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
83		84
84	// general PAL\|NTSC distingiusch stuff	85	// general PAL\|NTSC distingiusch stuff
85	uint8_t top_line = 1;	86	uint8_t top_line = 1;
86	uint8_t bottom_line = 14;	87	uint8_t bottom_line = 14;
87		88
88	// battery voltages	89	// battery voltages
89	uint8_t min_voltage = 0;	90	uint8_t min_voltage = 0;
90	uint8_t max_voltage = 0;	91	uint8_t max_voltage = 0;
91		92
92	// Flags	93	// Flags
93	uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0;	94	uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0;
94		95
95	/* ##########################################################################	96	/* ##########################################################################
96	* Interrupt handler	97	* Interrupt handler
97	* ##########################################################################*/	98	* ##########################################################################*/
98		99
99	/**	100	/**
100	* handler for undefined Interrupts	101	* handler for undefined Interrupts
101	* if not defined AVR will reset in case any unhandled interrupts occur	102	* if not defined AVR will reset in case any unhandled interrupts occur
102	*/	103	*/
103	ISR(__vector_default) {	104	ISR(__vector_default) {
104	asm("nop");	105	asm("nop");
105	}	106	}
106		107
107	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	108	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
108	/* ##########################################################################	109	/* ##########################################################################
109	* timer stuff	110	* timer stuff
110	* ##########################################################################*/	111	* ##########################################################################*/
111		112
112	/**	113	/**
113	* timer kicks in every 1000uS ^= 1ms	114	* timer kicks in every 1000uS ^= 1ms
114	*/	115	*/
115	ISR(TIMER0_OVF_vect) {	116	ISR(TIMER0_OVF_vect) {
116	OCR0 = 15; // preload	117	OCR0 = 15; // preload
117	if (!timer--) {	118	if (!timer--) {
118	uptime++;	119	uptime++;
119	timer = 999;	120	timer = 999;
120	seconds_since_last_data++;	121	seconds_since_last_data++;
121	}	122	}
122	// in case there is still some spi data to send do it now	123	// in case there is still some spi data to send do it now
123	if (spi_ready && icnt) {	124	if (spi_ready && icnt) {
124	SPDR = *iptr;	125	SPDR = *iptr;
125	}	126	}
126	}	127	}
127	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	128	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
128		129
129	/* ##########################################################################	130	/* ##########################################################################
130	* MAIN	131	* MAIN
131	* ##########################################################################*/	132	* ##########################################################################*/
132	int main(void) {	133	int main(void) {
133		134
134	// set up FLAGS, compiler should flatten this one	135	// set up FLAGS, compiler should flatten this one
135	COSD_FLAGS = (NTSC << 0);	136	COSD_FLAGS = (NTSC << 0);
136	COSD_FLAGS \|= (HUD << 1);	137	COSD_FLAGS \|= (HUD << 1);
137	COSD_FLAGS \|= (ARTHORIZON << 2);	138	COSD_FLAGS \|= (ARTHORIZON << 2);
138	COSD_FLAGS \|= (BIGVARIO << 3);	139	COSD_FLAGS \|= (BIGVARIO << 3);
139	COSD_FLAGS \|= (STATS << 4);	140	COSD_FLAGS \|= (STATS << 4);
140	COSD_FLAGS \|= (WARNINGS << 5);	141	COSD_FLAGS \|= (WARNINGS << 5);
141		142
142	// set up Atmega162 Ports	143	// set up Atmega162 Ports
143	DDRA \|= (1 << PA1); // PA1 output (/CS)	144	DDRA \|= (1 << PA1); // PA1 output (/CS)
144	MAX_CS_HIGH	145	MAX_CS_HIGH
145	DDRA \|= (1 << PA2); // PA2 output (SDIN)	146	DDRA \|= (1 << PA2); // PA2 output (SDIN)
146	MAX_SDIN_LOW	147	MAX_SDIN_LOW
147	DDRA \|= (1 << PA3); // PA3 output (SCLK)	148	DDRA \|= (1 << PA3); // PA3 output (SCLK)
148	MAX_SCLK_LOW	149	MAX_SCLK_LOW
149	DDRA \|= (1 << PA5); // PA5 output (RESET)	150	DDRA \|= (1 << PA5); // PA5 output (RESET)
150	MAX_RESET_HIGH	151	MAX_RESET_HIGH
151		152
152	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)	153	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
153	LED1_OFF	154	LED1_OFF
154	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)	155	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
155	LED2_OFF	156	LED2_OFF
156	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)	157	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
157	LED3_OFF	158	LED3_OFF
158	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)	159	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
159	LED4_OFF	160	LED4_OFF
160		161
161	DDRC &= ~(1 << PC4); // PC4 input (MODE)	162	DDRC &= ~(1 << PC4); // PC4 input (MODE)
162	PORTC \|= (1 << PC4); // pullup	163	PORTC \|= (1 << PC4); // pullup
163	DDRC &= ~(1 << PC5); // PC5 input (SET)	164	DDRC &= ~(1 << PC5); // PC5 input (SET)
164	PORTC \|= (1 << PC5); // pullup	165	PORTC \|= (1 << PC5); // pullup
165		166
166	// reset the MAX7456 to be sure any undefined states do no harm	167	// reset the MAX7456 to be sure any undefined states do no harm
167	MAX_RESET_LOW	168	MAX_RESET_LOW
168	MAX_RESET_HIGH	169	MAX_RESET_HIGH
169		170
170	// give the FC/NC and the maxim time to come up	171	// give the FC/NC and the maxim time to come up
171	LED4_ON	172	LED4_ON
172	_delay_ms(2000);	173	_delay_ms(2000);
173	LED4_OFF	174	LED4_OFF
174		175
175	//Pushing NEW chars to the MAX7456	176	//Pushing NEW chars to the MAX7456
176	#if (WRITECHARS != -1)	177	#if (WRITECHARS != -1)
177	// DISABLE display (VM0)	178	// DISABLE display (VM0)
178	spi_send_byte(0x00, 0b00000000);	179	spi_send_byte(0x00, 0b00000000);
179	#include "characters.c"	180	#include "characters.c"
180	#else	181	#else
181	// read out config for NTSC/PAL distinguishing	182	// read out config for NTSC/PAL distinguishing
182	get_eeprom(0);	183	get_eeprom(0);
183	#endif	184	#endif
184		185
185	// Setup Video Mode	186	// Setup Video Mode
186	if (COSD_FLAGS & COSD_FLAG_NTSC) {	187	if (COSD_FLAGS & COSD_FLAG_NTSC) {
187	// NTSC + enable display immediately (VM0)	188	// NTSC + enable display immediately (VM0)
188	spi_send_byte(0x00, 0b00001000);	189	spi_send_byte(0x00, 0b00001000);
189		190
190	bottom_line = 12;	191	bottom_line = 12;
191	} else {	192	} else {
192	// PAL + enable display immediately (VM0)	193	// PAL + enable display immediately (VM0)
193	spi_send_byte(0x00, 0b01001000);	194	spi_send_byte(0x00, 0b01001000);
194		195
195	bottom_line = 14;	196	bottom_line = 14;
196	}	197	}
197		198
198	/*// clear all display-mem (DMM)	199	/*// clear all display-mem (DMM)
199	spi_send_byte(0x04, 0b00000100);	200	spi_send_byte(0x04, 0b00000100);
200		201
201	// clearing takes 12uS according to maxim so lets wait longer	202	// clearing takes 12uS according to maxim so lets wait longer
202	_delay_us(120);	203	_delay_us(120);
203		204
204	// 8bit mode	205	// 8bit mode
205	spi_send_byte(0x04, 0b01000000);*/	206	spi_send_byte(0x04, 0b01000000);*/
206		207
207	// clear display memory and set to 8bit mode	208	// clear display memory and set to 8bit mode
208	clear();	209	clear();
209		210
210	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	211	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
211	// init usart	212	// init usart
212	usart1_init();	213	usart1_init();
213		214
214	// set up timer	215	// set up timer
215	TCCR0 \|= (1 << CS00) \| (1 << CS01); // timer0 prescaler 64	216	TCCR0 \|= (1 << CS00) \| (1 << CS01); // timer0 prescaler 64
216	OCR0 = 15; // preload	217	OCR0 = 15; // preload
217	TIMSK \|= (1 << TOIE0); // enable overflow timer0	218	TIMSK \|= (1 << TOIE0); // enable overflow timer0
-		219
218		220	// SPI setup
219	DDRD \|= (1 << PD2); // PD2 output (INT0)	221	DDRD \|= (1 << PD2); // PD2 output (INT0)
220	SpiMasterInit();	222	SpiMasterInit();
-		223
-		224	// PPM detection setup
-		225	ppm_init();
221		226
222	// enable interrupts	-
-		227	// enable interrupts
223	sei();	228
224		229	sei();
225	#endif	230	#endif
226		231
227	//write_ascii_string(2, 7, " CaScAdE ");	232	//write_ascii_string(2, 7, " CaScAdE ");
228	//write_ascii_string(2, 8, "is TESTING his open source");	233	//write_ascii_string(2, 8, "is TESTING his open source");
229	//write_ascii_string(2, 9, " EPi OSD Firmware");	234	//write_ascii_string(2, 9, " EPi OSD Firmware");
230		235
231	// we are ready	236	// we are ready
232	LED3_ON	237	LED3_ON
233		238
234	#if ALLCHARSDEBUG \| (WRITECHARS != -1)	239	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
235	clear();	240	clear();
236	write_all_chars();	241	write_all_chars();
237	#else	242	#else
-		243
238	// clear serial screen	244	// clear serial screen
239	//usart1_puts("\x1B[2J\x1B[H");	245	//usart1_puts("\x1B[2J\x1B[H");
240	//usart1_puts("hello world!\r\n");	246	//usart1_puts("hello world!123\r\n");
-		247
241	#if FCONLY	248	#if FCONLY
242	// request data ever 100ms from FC;	249	// request data ever 100ms from FC;
243	usart1_request_mk_data(0, 'd', 100);	250	usart1_request_mk_data(0, 'd', 100);
244	#else	251	#else
245	// request OSD Data from NC every 100ms	252	// request OSD Data from NC every 100ms
246	usart1_request_mk_data(1, 'o', 100);	253	usart1_request_mk_data(1, 'o', 100);
247		254
248	// and disable debug...	255	// and disable debug...
249	usart1_request_mk_data(0, 'd', 0);	256	usart1_request_mk_data(0, 'd', 0);
250	#endif	257	#endif
251		258
252	// stats for after flight	259	// stats for after flight
253	int16_t max_Altimeter = 0;	260	int16_t max_Altimeter = 0;
254	uint8_t min_UBat = 255;	261	uint8_t min_UBat = 255;
255	#if !(FCONLY)	262	#if !(FCONLY)
256	uint16_t max_GroundSpeed = 0;	263	uint16_t max_GroundSpeed = 0;
257	int16_t max_Distance = 0;	264	int16_t max_Distance = 0;
258	uint16_t max_FlyingTime = 0;	265	uint16_t max_FlyingTime = 0;
259		266
260	// flags from last round to check for changes	267	// flags from last round to check for changes
261	uint8_t old_MKFlags = 0;	268	uint8_t old_MKFlags = 0;
262		269
263	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	270	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
264	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	271	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
265	#endif	272	#endif
266		273
267	while (1) {	274	while (1) {
268	// in case SPI is ready and there is nothing to send right now	275	// in case SPI is ready and there is nothing to send right now
269	if (!icnt && spi_ready) {	276	if (!icnt && spi_ready) {
270	// correct transfer ends with d (done)	277	// correct transfer ends with d (done)
271	if (spi_cmd_buffer[0] == 'd') {	278	if (spi_cmd_buffer[0] == 'd') {
272	ampere = spi_cmd_buffer[1] << 8;	279	ampere = spi_cmd_buffer[1] << 8;
273	ampere \|= spi_cmd_buffer[2];	280	ampere \|= spi_cmd_buffer[2];
274	ampere_wasted = spi_cmd_buffer[3];	281	ampere_wasted = spi_cmd_buffer[3];
275	ampere_wasted = ampere_wasted << 8;	282	ampere_wasted = ampere_wasted << 8;
276	ampere_wasted \|= spi_cmd_buffer[4];	283	ampere_wasted \|= spi_cmd_buffer[4];
277	ampere_wasted = ampere_wasted << 8;	284	ampere_wasted = ampere_wasted << 8;
278	ampere_wasted \|= spi_cmd_buffer[5];	285	ampere_wasted \|= spi_cmd_buffer[5];
279	ampere_wasted = ampere_wasted << 8;	286	ampere_wasted = ampere_wasted << 8;
280	ampere_wasted \|= spi_cmd_buffer[6];	287	ampere_wasted \|= spi_cmd_buffer[6];
281	//ampere = ((int16_t ) spi_cmd_buffer + 1);	288	//ampere = ((int16_t ) spi_cmd_buffer + 1);
282	//ampere_wasted = ((int32_t ) &spi_cmd_buffer + 3);	289	//ampere_wasted = ((int32_t ) &spi_cmd_buffer + 3);
283	// if this is the first receival we should print the small A	290	// if this is the first receival we should print the small A
284	if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {	291	if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {
285	clear();	292	clear();
286	COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;	293	COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;
287	// update this flag	294	// update this flag
288	COSD_FLAGS2 \|= COSD_FLAG_STROMREC;	295	COSD_FLAGS2 \|= COSD_FLAG_STROMREC;
289	}	296	}
290	//write_ascii_char(8+4*30, 'v'); // valid	297	//write_ascii_char(8+4*30, 'v'); // valid
291	} else {	298	} else {
292	// update flags	299	// update flags
293	COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;	300	COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
294	//write_ascii_char(8+4*30, 'i'); // invalid	301	//write_ascii_char(8+4*30, 'i'); // invalid
295	}	302	}
296	spi_cmd_buffer[0] = 'A';	303	spi_cmd_buffer[0] = 'A';
297	spi_cmd_buffer[1] = 'B';	304	spi_cmd_buffer[1] = 'B';
298	spi_cmd_buffer[2] = 'C';	305	spi_cmd_buffer[2] = 'C';
299	spi_cmd_buffer[3] = 'D';	306	spi_cmd_buffer[3] = 'D';
300	spi_cmd_buffer[4] = 'E';	307	spi_cmd_buffer[4] = 'E';
301	spi_cmd_buffer[5] = 'F';	308	spi_cmd_buffer[5] = 'F';
302	spi_cmd_buffer[6] = 'G';	309	spi_cmd_buffer[6] = 'G';
303	StartTransfer((unsigned char*) spi_cmd_buffer, 7);	310	StartTransfer((unsigned char*) spi_cmd_buffer, 7);
304	}	311	}
305	if (rxd_buffer_locked) {	312	if (rxd_buffer_locked) {
306	#if FCONLY	313	#if FCONLY
307	if (rxd_buffer[2] == 'D') { // FC Data	314	if (rxd_buffer[2] == 'D') { // FC Data
308	Decode64();	315	Decode64();
309	debugData = ((DebugOut_t) pRxData);	316	debugData = ((DebugOut_t) pRxData);
310		317
311	// init on first data retrival, distinguished by last battery :)	318	// init on first data retrival, distinguished by last battery :)
312	if (last_UBat == 255) {	319	if (last_UBat == 255) {
313	// fix for min_UBat	320	// fix for min_UBat
314	min_UBat = debugData.Analog[9];	321	min_UBat = debugData.Analog[9];
315	init_cosd(debugData.Analog[9]);	322	init_cosd(debugData.Analog[9]);
316	}	323	}
317	#include "osd_fcmode_default.c"	324	#include "osd_fcmode_default.c"
318	}	325	}
319	#else	326	#else
320	if (rxd_buffer[2] == 'O') { // NC OSD Data	327	if (rxd_buffer[2] == 'O') { // NC OSD Data
321	Decode64();	328	Decode64();
322	naviData = ((NaviData_t) pRxData);	329	naviData = ((NaviData_t) pRxData);
323		330
324	// init on first data retrival, distinguished by last battery :)	331	// init on first data retrival, distinguished by last battery :)
325	if (last_UBat == 255) {	332	if (last_UBat == 255) {
326	// fix for min_UBat	333	// fix for min_UBat
327	min_UBat = naviData.UBat;	334	min_UBat = naviData.UBat;
328	init_cosd(naviData.UBat);	335	init_cosd(naviData.UBat);
329	}	336	}
330	#include "osd_ncmode_default.c"	337	#include "osd_ncmode_default.c"
331	}	338	}
332	#endif	339	#endif
333	rxd_buffer_locked = 0;	340	rxd_buffer_locked = 0;
334	}	341	}
335	// handle keypress	342	// handle keypress
336	if (s1_pressed()) {	343	if (s1_pressed()) {
337	config_menu();	344	config_menu();
338	}	345	}
339	if (seconds_since_last_data > 2) {	346	if (seconds_since_last_data > 2) {
340	#if FCONLY	347	#if FCONLY
341	// request data ever 100ms from FC;	348	// request data ever 100ms from FC;
342	usart1_request_mk_data(0, 'd', 100);	349	usart1_request_mk_data(0, 'd', 100);
343	#else	350	#else
344	// request OSD Data from NC every 100ms	351	// request OSD Data from NC every 100ms
345	usart1_request_mk_data(1, 'o', 100);	352	usart1_request_mk_data(1, 'o', 100);
346		353
347	// and disable debug...	354	// and disable debug...
348	usart1_request_mk_data(0, 'd', 0);	355	usart1_request_mk_data(0, 'd', 0);
-		356
-		357	// reset last time counter
-		358	seconds_since_last_data = 0;
349	#endif	359	#endif
350	}	360	}
351	}	361	}
352	#endif	362	#endif
353	return 0;	363	return 0;
354	}	364	}
355		365

Subversion Repositories Projects

(root)/C-OSD/trunk/main.c - Rev 474 → 477