WebSVN - Projects - Diff - Rev 477 and 489


/****************************************************************************
 *   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
const char stats_item_0[] PROGMEM = "max Altitude:";
const char stats_item_1[] PROGMEM = "max Speed   :";
const char stats_item_2[] PROGMEM = "max Distance:";
const char stats_item_3[] PROGMEM = "min Voltage :";
const char stats_item_4[] PROGMEM = "max Time    :";
const char stats_item_5[] PROGMEM = "longitude   :";
const char stats_item_6[] PROGMEM = "latitude    :";
const char stats_item_7[] PROGMEM = "max current :";
const 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};
 
#if !(FCONLY)
//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
    //char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
const char str_NE[] PROGMEM = "NE";
const char str_E[] PROGMEM  = "E ";
const char str_SE[] PROGMEM = "SE";
const char str_S[] PROGMEM  = "S ";
const char str_SW[] PROGMEM = "SW";
const char str_W[] PROGMEM  = "W ";
const char str_NW[] PROGMEM = "NW";
const char str_N[] PROGMEM  = "N ";
const char *directions[8] PROGMEM = {
        str_NE,
        str_E,
        str_SE,
        str_S,
        str_SW,
        str_W,
        str_NW,
        str_N};
#endif
 
#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_COMP_vect) {
 
    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
        // CTC, Prescaler /64
        TCCR0 = (1 << WGM01) | (0 << WGM00) | (0 << CS02) | (1 << CS01) | (1 << CS00);
 
        TCNT0 = 0;
        OCR0 = 250;
 
        // enable timer output compare interrupt
        TIMSK &= ~(1 << TOIE0);
        TIMSK |= (1 << OCIE0);
 
        // 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;
 
 
 
#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 477	Rev 489
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	#include "ppm.h"
40		40
41	/* TODO:	41	/* TODO:
42	* - verifiy correctness of values	42	* - verifiy correctness of values
43	* - clean up code :)	43	* - clean up code :)
44	*/	44	*/
45		45
46	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	46	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
47	// data structs not needed for character flashing	47	// data structs not needed for character flashing
48	#include "mk-data-structs.h"	48	#include "mk-data-structs.h"
49		49
50	/* ##########################################################################	50	/* ##########################################################################
51	* global definitions and global vars	51	* global definitions and global vars
52	* ##########################################################################*/	52	* ##########################################################################*/
53		53
54	volatile uint16_t setsReceived = 0;	54	volatile uint16_t setsReceived = 0;
55		55
56	volatile NaviData_t naviData;	56	volatile NaviData_t naviData;
57	volatile DebugOut_t debugData;	57	volatile DebugOut_t debugData;
58		58
59	// cache old vars for blinking attribute, checkup is faster than full	59	// cache old vars for blinking attribute, checkup is faster than full
60	// attribute write each time	60	// attribute write each time
61	volatile uint8_t last_UBat = 255;	61	volatile uint8_t last_UBat = 255;
62	volatile uint8_t last_RC_Quality = 255;	62	volatile uint8_t last_RC_Quality = 255;
63		63
64	// 16bit should be enough, normal LiPos don't last that long	64	// 16bit should be enough, normal LiPos don't last that long
65	volatile uint16_t uptime = 0;	65	volatile uint16_t uptime = 0;
66	volatile uint16_t timer = 0;	66	volatile uint16_t timer = 0;
67		67
68	// remember last time data was received	68	// remember last time data was received
69	volatile uint8_t seconds_since_last_data = 0;	69	volatile uint8_t seconds_since_last_data = 0;
70		70
71	// store stats description in progmem to save space	71	// store stats description in progmem to save space
72	char stats_item_0[] PROGMEM = "max Altitude:";	72	const char stats_item_0[] PROGMEM = "max Altitude:";
73	char stats_item_1[] PROGMEM = "max Speed :";	73	const char stats_item_1[] PROGMEM = "max Speed :";
74	char stats_item_2[] PROGMEM = "max Distance:";	74	const char stats_item_2[] PROGMEM = "max Distance:";
75	char stats_item_3[] PROGMEM = "min voltage :";	75	const char stats_item_3[] PROGMEM = "min Voltage :";
76	char stats_item_4[] PROGMEM = "max time :";	76	const char stats_item_4[] PROGMEM = "max Time :";
77	char stats_item_5[] PROGMEM = "longitude :";	77	const char stats_item_5[] PROGMEM = "longitude :";
78	char stats_item_6[] PROGMEM = "latitude :";	78	const char stats_item_6[] PROGMEM = "latitude :";
79	char stats_item_7[] PROGMEM = "max current :";	79	const char stats_item_7[] PROGMEM = "max current :";
80	char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,	80	const char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,
81	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};
-		82
-		83	#if !(FCONLY)
-		84	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
-		85	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
-		86	const char str_NE[] PROGMEM = "NE";
-		87	const char str_E[] PROGMEM = "E ";
-		88	const char str_SE[] PROGMEM = "SE";
-		89	const char str_S[] PROGMEM = "S ";
-		90	const char str_SW[] PROGMEM = "SW";
-		91	const char str_W[] PROGMEM = "W ";
-		92	const char str_NW[] PROGMEM = "NW";
-		93	const char str_N[] PROGMEM = "N ";
-		94	const char *directions[8] PROGMEM = {
-		95	str_NE,
-		96	str_E,
-		97	str_SE,
-		98	str_S,
-		99	str_SW,
-		100	str_W,
-		101	str_NW,
-		102	str_N};
-		103	#endif
82		104
83	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	105	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
84		106
85	// general PAL\|NTSC distingiusch stuff	107	// general PAL\|NTSC distingiusch stuff
86	uint8_t top_line = 1;	108	uint8_t top_line = 1;
87	uint8_t bottom_line = 14;	109	uint8_t bottom_line = 14;
88		110
89	// battery voltages	111	// battery voltages
90	uint8_t min_voltage = 0;	112	uint8_t min_voltage = 0;
91	uint8_t max_voltage = 0;	113	uint8_t max_voltage = 0;
92		114
93	// Flags	115	// Flags
94	uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0;	116	uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0;
95		117
96	/* ##########################################################################	118	/* ##########################################################################
97	* Interrupt handler	119	* Interrupt handler
98	* ##########################################################################*/	120	* ##########################################################################*/
99		121
100	/**	122	/**
101	* handler for undefined Interrupts	123	* handler for undefined Interrupts
102	* if not defined AVR will reset in case any unhandled interrupts occur	124	* if not defined AVR will reset in case any unhandled interrupts occur
103	*/	125	*/
104	ISR(__vector_default) {	126	ISR(__vector_default) {
105	asm("nop");	127	asm("nop");
106	}	128	}
107		129
108	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	130	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
109	/* ##########################################################################	131	/* ##########################################################################
110	* timer stuff	132	* timer stuff
111	* ##########################################################################*/	133	* ##########################################################################*/
112		134
113	/**	135	/**
114	* timer kicks in every 1000uS ^= 1ms	136	* timer kicks in every 1000uS ^= 1ms
115	*/	137	*/
116	ISR(TIMER0_OVF_vect) {	138	ISR(TIMER0_COMP_vect) {
117	OCR0 = 15; // preload	-
118	if (!timer--) {	139	if (!timer--) {
119	uptime++;	140	uptime++;
120	timer = 999;	141	timer = 999;
121	seconds_since_last_data++;	142	seconds_since_last_data++;
122	}	143	}
123	// in case there is still some spi data to send do it now	144	// in case there is still some spi data to send do it now
124	if (spi_ready && icnt) {	145	if (spi_ready && icnt) {
125	SPDR = *iptr;	146	SPDR = *iptr;
126	}	147	}
127	}	148	}
128	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	149	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
129		150
130	/* ##########################################################################	151	/* ##########################################################################
131	* MAIN	152	* MAIN
132	* ##########################################################################*/	153	* ##########################################################################*/
133	int main(void) {	154	int main(void) {
134		155
135	// set up FLAGS, compiler should flatten this one	156	// set up FLAGS, compiler should flatten this one
136	COSD_FLAGS = (NTSC << 0);	157	COSD_FLAGS = (NTSC << 0);
137	COSD_FLAGS \|= (HUD << 1);	158	COSD_FLAGS \|= (HUD << 1);
138	COSD_FLAGS \|= (ARTHORIZON << 2);	159	COSD_FLAGS \|= (ARTHORIZON << 2);
139	COSD_FLAGS \|= (BIGVARIO << 3);	160	COSD_FLAGS \|= (BIGVARIO << 3);
140	COSD_FLAGS \|= (STATS << 4);	161	COSD_FLAGS \|= (STATS << 4);
141	COSD_FLAGS \|= (WARNINGS << 5);	162	COSD_FLAGS \|= (WARNINGS << 5);
142		163
143	// set up Atmega162 Ports	164	// set up Atmega162 Ports
144	DDRA \|= (1 << PA1); // PA1 output (/CS)	165	DDRA \|= (1 << PA1); // PA1 output (/CS)
145	MAX_CS_HIGH	166	MAX_CS_HIGH
146	DDRA \|= (1 << PA2); // PA2 output (SDIN)	167	DDRA \|= (1 << PA2); // PA2 output (SDIN)
147	MAX_SDIN_LOW	168	MAX_SDIN_LOW
148	DDRA \|= (1 << PA3); // PA3 output (SCLK)	169	DDRA \|= (1 << PA3); // PA3 output (SCLK)
149	MAX_SCLK_LOW	170	MAX_SCLK_LOW
150	DDRA \|= (1 << PA5); // PA5 output (RESET)	171	DDRA \|= (1 << PA5); // PA5 output (RESET)
151	MAX_RESET_HIGH	172	MAX_RESET_HIGH
152		173
153	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)	174	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
154	LED1_OFF	175	LED1_OFF
155	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)	176	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
156	LED2_OFF	177	LED2_OFF
157	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)	178	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
158	LED3_OFF	179	LED3_OFF
159	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)	180	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
160	LED4_OFF	181	LED4_OFF
161		182
162	DDRC &= ~(1 << PC4); // PC4 input (MODE)	183	DDRC &= ~(1 << PC4); // PC4 input (MODE)
163	PORTC \|= (1 << PC4); // pullup	184	PORTC \|= (1 << PC4); // pullup
164	DDRC &= ~(1 << PC5); // PC5 input (SET)	185	DDRC &= ~(1 << PC5); // PC5 input (SET)
165	PORTC \|= (1 << PC5); // pullup	186	PORTC \|= (1 << PC5); // pullup
166		187
167	// reset the MAX7456 to be sure any undefined states do no harm	188	// reset the MAX7456 to be sure any undefined states do no harm
168	MAX_RESET_LOW	189	MAX_RESET_LOW
169	MAX_RESET_HIGH	190	MAX_RESET_HIGH
170		191
171	// give the FC/NC and the maxim time to come up	192	// give the FC/NC and the maxim time to come up
172	LED4_ON	193	LED4_ON
173	_delay_ms(2000);	194	_delay_ms(2000);
174	LED4_OFF	195	LED4_OFF
175		196
176	//Pushing NEW chars to the MAX7456	197	//Pushing NEW chars to the MAX7456
177	#if (WRITECHARS != -1)	198	#if (WRITECHARS != -1)
178	// DISABLE display (VM0)	199	// DISABLE display (VM0)
179	spi_send_byte(0x00, 0b00000000);	200	spi_send_byte(0x00, 0b00000000);
180	#include "characters.c"	201	#include "characters.c"
181	#else	202	#else
182	// read out config for NTSC/PAL distinguishing	203	// read out config for NTSC/PAL distinguishing
183	get_eeprom(0);	204	get_eeprom(0);
184	#endif	205	#endif
185		206
186	// Setup Video Mode	207	// Setup Video Mode
187	if (COSD_FLAGS & COSD_FLAG_NTSC) {	208	if (COSD_FLAGS & COSD_FLAG_NTSC) {
188	// NTSC + enable display immediately (VM0)	209	// NTSC + enable display immediately (VM0)
189	spi_send_byte(0x00, 0b00001000);	210	spi_send_byte(0x00, 0b00001000);
190		211
191	bottom_line = 12;	212	bottom_line = 12;
192	} else {	213	} else {
193	// PAL + enable display immediately (VM0)	214	// PAL + enable display immediately (VM0)
194	spi_send_byte(0x00, 0b01001000);	215	spi_send_byte(0x00, 0b01001000);
195		216
196	bottom_line = 14;	217	bottom_line = 14;
197	}	218	}
198		219
199	/*// clear all display-mem (DMM)	220	/*// clear all display-mem (DMM)
200	spi_send_byte(0x04, 0b00000100);	221	spi_send_byte(0x04, 0b00000100);
201		222
202	// clearing takes 12uS according to maxim so lets wait longer	223	// clearing takes 12uS according to maxim so lets wait longer
203	_delay_us(120);	224	_delay_us(120);
204		225
205	// 8bit mode	226	// 8bit mode
206	spi_send_byte(0x04, 0b01000000);*/	227	spi_send_byte(0x04, 0b01000000);*/
207		228
208	// clear display memory and set to 8bit mode	229	// clear display memory and set to 8bit mode
209	clear();	230	clear();
210		231
211	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	232	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
212	// init usart	233	// init usart
213	usart1_init();	234	usart1_init();
214		235
215	// set up timer	236	// set up timer
-		237	// CTC, Prescaler /64
216	TCCR0 \|= (1 << CS00) \| (1 << CS01); // timer0 prescaler 64	238	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);
-		239
-		240	TCNT0 = 0;
-		241	OCR0 = 250;
-		242
-		243	// enable timer output compare interrupt
217	OCR0 = 15; // preload	244	TIMSK &= ~(1 << TOIE0);
218	TIMSK \|= (1 << TOIE0); // enable overflow timer0	245	TIMSK \|= (1 << OCIE0);
219		246
220	// SPI setup	247	// SPI setup
221	DDRD \|= (1 << PD2); // PD2 output (INT0)	248	DDRD \|= (1 << PD2); // PD2 output (INT0)
222	SpiMasterInit();	249	SpiMasterInit();
223		250
224	// PPM detection setup	251	// PPM detection setup
225	ppm_init();	252	ppm_init();
226		253
227	// enable interrupts	254	// enable interrupts
228		255
229	sei();	256	sei();
230	#endif	257	#endif
231		258
232	//write_ascii_string(2, 7, " CaScAdE ");	259	//write_ascii_string(2, 7, " CaScAdE ");
233	//write_ascii_string(2, 8, "is TESTING his open source");	260	//write_ascii_string(2, 8, "is TESTING his open source");
234	//write_ascii_string(2, 9, " EPi OSD Firmware");	261	//write_ascii_string(2, 9, " EPi OSD Firmware");
235		262
236	// we are ready	263	// we are ready
237	LED3_ON	264	LED3_ON
238		265
239	#if ALLCHARSDEBUG \| (WRITECHARS != -1)	266	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
240	clear();	267	clear();
241	write_all_chars();	268	write_all_chars();
242	#else	269	#else
243		270
244	// clear serial screen	271	// clear serial screen
245	//usart1_puts("\x1B[2J\x1B[H");	272	//usart1_puts("\x1B[2J\x1B[H");
246	//usart1_puts("hello world!123\r\n");	273	//usart1_puts("hello world!123\r\n");
247		274
248	#if FCONLY	275	#if FCONLY
249	// request data ever 100ms from FC;	276	// request data ever 100ms from FC;
250	usart1_request_mk_data(0, 'd', 100);	277	usart1_request_mk_data(0, 'd', 100);
251	#else	278	#else
252	// request OSD Data from NC every 100ms	279	// request OSD Data from NC every 100ms
253	usart1_request_mk_data(1, 'o', 100);	280	usart1_request_mk_data(1, 'o', 100);
254		281
255	// and disable debug...	282	// and disable debug...
256	usart1_request_mk_data(0, 'd', 0);	283	usart1_request_mk_data(0, 'd', 0);
257	#endif	284	#endif
258		285
259	// stats for after flight	286	// stats for after flight
260	int16_t max_Altimeter = 0;	287	int16_t max_Altimeter = 0;
261	uint8_t min_UBat = 255;	288	uint8_t min_UBat = 255;
262	#if !(FCONLY)	289	#if !(FCONLY)
263	uint16_t max_GroundSpeed = 0;	290	uint16_t max_GroundSpeed = 0;
264	int16_t max_Distance = 0;	291	int16_t max_Distance = 0;
265	uint16_t max_FlyingTime = 0;	292	uint16_t max_FlyingTime = 0;
266		293
267	// flags from last round to check for changes	294	// flags from last round to check for changes
268	uint8_t old_MKFlags = 0;	295	uint8_t old_MKFlags = 0;
269		-
270	char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	-
271	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	-
272	#endif	296	#endif
273		297
274	while (1) {	298	while (1) {
275	// in case SPI is ready and there is nothing to send right now	299	// in case SPI is ready and there is nothing to send right now
276	if (!icnt && spi_ready) {	300	if (!icnt && spi_ready) {
277	// correct transfer ends with d (done)	301	// correct transfer ends with d (done)
278	if (spi_cmd_buffer[0] == 'd') {	302	if (spi_cmd_buffer[0] == 'd') {
279	ampere = spi_cmd_buffer[1] << 8;	303	ampere = spi_cmd_buffer[1] << 8;
280	ampere \|= spi_cmd_buffer[2];	304	ampere \|= spi_cmd_buffer[2];
281	ampere_wasted = spi_cmd_buffer[3];	305	ampere_wasted = spi_cmd_buffer[3];
282	ampere_wasted = ampere_wasted << 8;	306	ampere_wasted = ampere_wasted << 8;
283	ampere_wasted \|= spi_cmd_buffer[4];	307	ampere_wasted \|= spi_cmd_buffer[4];
284	ampere_wasted = ampere_wasted << 8;	308	ampere_wasted = ampere_wasted << 8;
285	ampere_wasted \|= spi_cmd_buffer[5];	309	ampere_wasted \|= spi_cmd_buffer[5];
286	ampere_wasted = ampere_wasted << 8;	310	ampere_wasted = ampere_wasted << 8;
287	ampere_wasted \|= spi_cmd_buffer[6];	311	ampere_wasted \|= spi_cmd_buffer[6];
288	//ampere = ((int16_t ) spi_cmd_buffer + 1);	312	//ampere = ((int16_t ) spi_cmd_buffer + 1);
289	//ampere_wasted = ((int32_t ) &spi_cmd_buffer + 3);	313	//ampere_wasted = ((int32_t ) &spi_cmd_buffer + 3);
290	// if this is the first receival we should print the small A	314	// if this is the first receival we should print the small A
291	if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {	315	if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {
292	clear();	316	clear();
293	COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;	317	COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;
294	// update this flag	318	// update this flag
295	COSD_FLAGS2 \|= COSD_FLAG_STROMREC;	319	COSD_FLAGS2 \|= COSD_FLAG_STROMREC;
296	}	320	}
297	//write_ascii_char(8+4*30, 'v'); // valid	321	//write_ascii_char(8+4*30, 'v'); // valid
298	} else {	322	} else {
299	// update flags	323	// update flags
300	COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;	324	COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
301	//write_ascii_char(8+4*30, 'i'); // invalid	325	//write_ascii_char(8+4*30, 'i'); // invalid
302	}	326	}
303	spi_cmd_buffer[0] = 'A';	327	spi_cmd_buffer[0] = 'A';
304	spi_cmd_buffer[1] = 'B';	328	spi_cmd_buffer[1] = 'B';
305	spi_cmd_buffer[2] = 'C';	329	spi_cmd_buffer[2] = 'C';
306	spi_cmd_buffer[3] = 'D';	330	spi_cmd_buffer[3] = 'D';
307	spi_cmd_buffer[4] = 'E';	331	spi_cmd_buffer[4] = 'E';
308	spi_cmd_buffer[5] = 'F';	332	spi_cmd_buffer[5] = 'F';
309	spi_cmd_buffer[6] = 'G';	333	spi_cmd_buffer[6] = 'G';
310	StartTransfer((unsigned char*) spi_cmd_buffer, 7);	334	StartTransfer((unsigned char*) spi_cmd_buffer, 7);
311	}	335	}
312	if (rxd_buffer_locked) {	336	if (rxd_buffer_locked) {
313	#if FCONLY	337	#if FCONLY
314	if (rxd_buffer[2] == 'D') { // FC Data	338	if (rxd_buffer[2] == 'D') { // FC Data
315	Decode64();	339	Decode64();
316	debugData = ((DebugOut_t) pRxData);	340	debugData = ((DebugOut_t) pRxData);
317		341
318	// init on first data retrival, distinguished by last battery :)	342	// init on first data retrival, distinguished by last battery :)
319	if (last_UBat == 255) {	343	if (last_UBat == 255) {
320	// fix for min_UBat	344	// fix for min_UBat
321	min_UBat = debugData.Analog[9];	345	min_UBat = debugData.Analog[9];
322	init_cosd(debugData.Analog[9]);	346	init_cosd(debugData.Analog[9]);
323	}	347	}
324	#include "osd_fcmode_default.c"	348	#include "osd_fcmode_default.c"
325	}	349	}
326	#else	350	#else
327	if (rxd_buffer[2] == 'O') { // NC OSD Data	351	if (rxd_buffer[2] == 'O') { // NC OSD Data
328	Decode64();	352	Decode64();
329	naviData = ((NaviData_t) pRxData);	353	naviData = ((NaviData_t) pRxData);
330		354
331	// init on first data retrival, distinguished by last battery :)	355	// init on first data retrival, distinguished by last battery :)
332	if (last_UBat == 255) {	356	if (last_UBat == 255) {
333	// fix for min_UBat	357	// fix for min_UBat
334	min_UBat = naviData.UBat;	358	min_UBat = naviData.UBat;
335	init_cosd(naviData.UBat);	359	init_cosd(naviData.UBat);
336	}	360	}
337	#include "osd_ncmode_default.c"	361	#include "osd_ncmode_default.c"
338	}	362	}
339	#endif	363	#endif
340	rxd_buffer_locked = 0;	364	rxd_buffer_locked = 0;
341	}	365	}
342	// handle keypress	366	// handle keypress
343	if (s1_pressed()) {	367	if (s1_pressed()) {
344	config_menu();	368	config_menu();
345	}	369	}
346	if (seconds_since_last_data > 2) {	370	if (seconds_since_last_data > 2) {
347	#if FCONLY	371	#if FCONLY
348	// request data ever 100ms from FC;	372	// request data ever 100ms from FC;
349	usart1_request_mk_data(0, 'd', 100);	373	usart1_request_mk_data(0, 'd', 100);
350	#else	374	#else
351	// request OSD Data from NC every 100ms	375	// request OSD Data from NC every 100ms
352	usart1_request_mk_data(1, 'o', 100);	376	usart1_request_mk_data(1, 'o', 100);
353		377
354	// and disable debug...	378	// and disable debug...
355	usart1_request_mk_data(0, 'd', 0);	379	usart1_request_mk_data(0, 'd', 0);
356		380
357	// reset last time counter	381	// reset last time counter
358	seconds_since_last_data = 0;	382	seconds_since_last_data = 0;
359	#endif	383	#endif
360	}	384	}
361	}	385	}
362	#endif	386	#endif
363	return 0;	387	return 0;
364	}	388	}
365		389

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