WebSVN - Projects - Diff - Rev 495 and 497


/****************************************************************************
 *   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"
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
#include "osd_ncmode_default.h"
#include "osd_ncmode_minimal.h"
#include "osd_fcmode_default.h"
#endif
 
/* TODO:
 * - verifiy correctness of values
 * - clean up code :)
 */
 
 
 
 
 
/* ##########################################################################
 * 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;
 
// 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;
 
// stats for after flight
int16_t max_Altimeter = 0;
uint8_t min_UBat = 255;
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;
 
// 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[8] 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};
 
 
//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};
 
 
/* ##########################################################################
 * Different display mode function pointers
 * ##########################################################################*/
#if !(ALLCHARSDEBUG|(WRITECHARS != -1))
const char str_1[] PROGMEM  = "default";
const char str_2[] PROGMEM  = "minimal";
 
const displaymode_t ncdisplaymodes[] PROGMEM = {
   { osd_ncmode_default, (char *)str_1 },
   { osd_ncmode_minimal, (char *)str_2 }
};
 
const displaymode_t fcdisplaymodes[] PROGMEM = {
 
   { osd_fcmode_default, (char *)str_1 },
};
 
 
 
int (*osd_ncmode)(void) = (int(*)(void)) &osd_ncmode_default;
int (*osd_fcmode)(void) = (int(*)(void)) &osd_ncmode_default;
#endif
 
/* ##########################################################################
 * 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
 
 
 
 
 
 
 
 
 
 
 
 
 
    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]);
                }
                                osd_fcmode();
            }
#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);
                }
                                osd_ncmode();
            }
#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 495	Rev 497
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	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
-		41	#include "osd_ncmode_default.h"
-		42	#include "osd_ncmode_minimal.h"
-		43	#include "osd_fcmode_default.h"
-		44	#endif
40		45
41	/* TODO:	46	/* TODO:
42	* - verifiy correctness of values	47	* - verifiy correctness of values
43	* - clean up code :)	48	* - clean up code :)
44	*/	49	*/
45		-
46	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	-
47	// data structs not needed for character flashing	-
48	#include "mk-data-structs.h"	50
49		51
50	/* ##########################################################################	52	/* ##########################################################################
51	* global definitions and global vars	53	* global definitions and global vars
52	* ##########################################################################*/	54	* ##########################################################################*/
53		55
54	volatile uint16_t setsReceived = 0;	56	volatile uint16_t setsReceived = 0;
55		57
56	volatile NaviData_t naviData;	58	volatile NaviData_t naviData;
57	volatile DebugOut_t debugData;	59	volatile DebugOut_t debugData;
58		60
59	// cache old vars for blinking attribute, checkup is faster than full	61	// cache old vars for blinking attribute, checkup is faster than full
60	// attribute write each time	62	// attribute write each time
61	volatile uint8_t last_UBat = 255;	63	volatile uint8_t last_UBat = 255;
62	volatile uint8_t last_RC_Quality = 255;	64	volatile uint8_t last_RC_Quality = 255;
63		65
64	// 16bit should be enough, normal LiPos don't last that long	66	// 16bit should be enough, normal LiPos don't last that long
65	volatile uint16_t uptime = 0;	67	volatile uint16_t uptime = 0;
66	volatile uint16_t timer = 0;	68	volatile uint16_t timer = 0;
67		69
68	// remember last time data was received	70	// remember last time data was received
69	volatile uint8_t seconds_since_last_data = 0;	71	volatile uint8_t seconds_since_last_data = 0;
-		72
-		73	// general PAL\|NTSC distingiusch stuff
-		74	uint8_t top_line = 1;
-		75	uint8_t bottom_line = 14;
-		76
-		77	// battery voltages
-		78	uint8_t min_voltage = 0;
-		79	uint8_t max_voltage = 0;
-		80
-		81	// Flags
-		82	uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0;
-		83
-		84	// stats for after flight
-		85	int16_t max_Altimeter = 0;
-		86	uint8_t min_UBat = 255;
-		87	uint16_t max_GroundSpeed = 0;
-		88	int16_t max_Distance = 0;
-		89	uint16_t max_FlyingTime = 0;
-		90
-		91	// flags from last round to check for changes
-		92	uint8_t old_MKFlags = 0;
70		93
71	// store stats description in progmem to save space	94	// store stats description in progmem to save space
72	const char stats_item_0[] PROGMEM = "max Altitude:";	95	const char stats_item_0[] PROGMEM = "max Altitude:";
73	const char stats_item_1[] PROGMEM = "max Speed :";	96	const char stats_item_1[] PROGMEM = "max Speed :";
74	const char stats_item_2[] PROGMEM = "max Distance:";	97	const char stats_item_2[] PROGMEM = "max Distance:";
75	const char stats_item_3[] PROGMEM = "min Voltage :";	98	const char stats_item_3[] PROGMEM = "min Voltage :";
76	const char stats_item_4[] PROGMEM = "max Time :";	99	const char stats_item_4[] PROGMEM = "max Time :";
77	const char stats_item_5[] PROGMEM = "longitude :";	100	const char stats_item_5[] PROGMEM = "longitude :";
78	const char stats_item_6[] PROGMEM = "latitude :";	101	const char stats_item_6[] PROGMEM = "latitude :";
79	const char stats_item_7[] PROGMEM = "max current :";	102	const char stats_item_7[] PROGMEM = "max current :";
80	const char* stats_item_pointers[] PROGMEM = {stats_item_0, stats_item_1, stats_item_2,	103	const char* stats_item_pointers[8] 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};	104	stats_item_3, stats_item_4, stats_item_5, stats_item_6, stats_item_7};
82		-
83	#if !(FCONLY)	105
84	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};	106	//char* directions[8] = {"NE", "E ", "SE", "S ", "SW", "W ", "NW", "N "};
85	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};	107	//char arrowdir[8] = {218, 217, 224, 223, 222, 221, 220, 219};
86	const char str_NE[] PROGMEM = "NE";	108	const char str_NE[] PROGMEM = "NE";
87	const char str_E[] PROGMEM = "E ";	109	const char str_E[] PROGMEM = "E ";
88	const char str_SE[] PROGMEM = "SE";	110	const char str_SE[] PROGMEM = "SE";
89	const char str_S[] PROGMEM = "S ";	111	const char str_S[] PROGMEM = "S ";
90	const char str_SW[] PROGMEM = "SW";	112	const char str_SW[] PROGMEM = "SW";
91	const char str_W[] PROGMEM = "W ";	113	const char str_W[] PROGMEM = "W ";
92	const char str_NW[] PROGMEM = "NW";	114	const char str_NW[] PROGMEM = "NW";
93	const char str_N[] PROGMEM = "N ";	115	const char str_N[] PROGMEM = "N ";
94	const char *directions[8] PROGMEM = {	116	const char *directions[8] PROGMEM = {
95	str_NE,	117	str_NE,
96	str_E,	118	str_E,
97	str_SE,	119	str_SE,
98	str_S,	120	str_S,
99	str_SW,	121	str_SW,
100	str_W,	122	str_W,
101	str_NW,	123	str_NW,
102	str_N};	124	str_N};
103	#endif	-
-		125
-		126	/* ##########################################################################
-		127	* Different display mode function pointers
104		128	* ##########################################################################*/
-		129	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
-		130	const char str_1[] PROGMEM = "default";
-		131	const char str_2[] PROGMEM = "minimal";
105	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	132
106		133	const displaymode_t ncdisplaymodes[] PROGMEM = {
-		134	{ osd_ncmode_default, (char *)str_1 },
-		135	{ osd_ncmode_minimal, (char *)str_2 }
-		136	};
107	// general PAL\|NTSC distingiusch stuff	137
-		138	const displaymode_t fcdisplaymodes[] PROGMEM = {
108	uint8_t top_line = 1;	-
109	uint8_t bottom_line = 14;	139	{ osd_fcmode_default, (char *)str_1 },
110		140	};
111	// battery voltages	-
112	uint8_t min_voltage = 0;	141
113	uint8_t max_voltage = 0;	-
114		142	int (osd_ncmode)(void) = (int()(void)) &osd_ncmode_default;
115	// Flags	143	int (osd_fcmode)(void) = (int()(void)) &osd_ncmode_default;
116	uint8_t COSD_FLAGS = 0, COSD_FLAGS2 = 0;	144	#endif
117		145
118	/* ##########################################################################	146	/* ##########################################################################
119	* Interrupt handler	147	* Interrupt handler
120	* ##########################################################################*/	148	* ##########################################################################*/
121		149
122	/**	150	/**
123	* handler for undefined Interrupts	151	* handler for undefined Interrupts
124	* if not defined AVR will reset in case any unhandled interrupts occur	152	* if not defined AVR will reset in case any unhandled interrupts occur
125	*/	153	*/
126	ISR(__vector_default) {	154	ISR(__vector_default) {
127	asm("nop");	155	asm("nop");
128	}	156	}
129		157
130	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	158	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
131	/* ##########################################################################	159	/* ##########################################################################
132	* timer stuff	160	* timer stuff
133	* ##########################################################################*/	161	* ##########################################################################*/
134		162
135	/**	163	/**
136	* timer kicks in every 1000uS ^= 1ms	164	* timer kicks in every 1000uS ^= 1ms
137	*/	165	*/
138	ISR(TIMER0_COMP_vect) {	166	ISR(TIMER0_COMP_vect) {
139	if (!timer--) {	167	if (!timer--) {
140	uptime++;	168	uptime++;
141	timer = 999;	169	timer = 999;
142	seconds_since_last_data++;	170	seconds_since_last_data++;
143	}	171	}
144	// in case there is still some spi data to send do it now	172	// in case there is still some spi data to send do it now
145	if (spi_ready && icnt) {	173	if (spi_ready && icnt) {
146	SPDR = *iptr;	174	SPDR = *iptr;
147	}	175	}
148	}	176	}
149	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))	177	#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))#endif // ends !(ALLCHARSDEBUG\|(WRITECHARS != -1))
150		178
151	/* ##########################################################################	179	/* ##########################################################################
152	* MAIN	180	* MAIN
153	* ##########################################################################*/	181	* ##########################################################################*/
154	int main(void) {	182	int main(void) {
155		183
156	// set up FLAGS, compiler should flatten this one	184	// set up FLAGS, compiler should flatten this one
157	COSD_FLAGS = (NTSC << 0);	185	COSD_FLAGS = (NTSC << 0);
158	COSD_FLAGS \|= (HUD << 1);	186	COSD_FLAGS \|= (HUD << 1);
159	COSD_FLAGS \|= (ARTHORIZON << 2);	187	COSD_FLAGS \|= (ARTHORIZON << 2);
160	COSD_FLAGS \|= (BIGVARIO << 3);	188	COSD_FLAGS \|= (BIGVARIO << 3);
161	COSD_FLAGS \|= (STATS << 4);	189	COSD_FLAGS \|= (STATS << 4);
162	COSD_FLAGS \|= (WARNINGS << 5);	190	COSD_FLAGS \|= (WARNINGS << 5);
163		191
164	// set up Atmega162 Ports	192	// set up Atmega162 Ports
165	DDRA \|= (1 << PA1); // PA1 output (/CS)	193	DDRA \|= (1 << PA1); // PA1 output (/CS)
166	MAX_CS_HIGH	194	MAX_CS_HIGH
167	DDRA \|= (1 << PA2); // PA2 output (SDIN)	195	DDRA \|= (1 << PA2); // PA2 output (SDIN)
168	MAX_SDIN_LOW	196	MAX_SDIN_LOW
169	DDRA \|= (1 << PA3); // PA3 output (SCLK)	197	DDRA \|= (1 << PA3); // PA3 output (SCLK)
170	MAX_SCLK_LOW	198	MAX_SCLK_LOW
171	DDRA \|= (1 << PA5); // PA5 output (RESET)	199	DDRA \|= (1 << PA5); // PA5 output (RESET)
172	MAX_RESET_HIGH	200	MAX_RESET_HIGH
173		201
174	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)	202	DDRC \|= (1 << PC0); // PC0 output (LED1 gn)
175	LED1_OFF	203	LED1_OFF
176	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)	204	DDRC \|= (1 << PC1); // PC1 output (LED2 rt)
177	LED2_OFF	205	LED2_OFF
178	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)	206	DDRC \|= (1 << PC2); // PC2 output (LED3 gn)
179	LED3_OFF	207	LED3_OFF
180	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)	208	DDRC \|= (1 << PC3); // PC3 output (LED4 rt)
181	LED4_OFF	209	LED4_OFF
182		210
183	DDRC &= ~(1 << PC4); // PC4 input (MODE)	211	DDRC &= ~(1 << PC4); // PC4 input (MODE)
184	PORTC \|= (1 << PC4); // pullup	212	PORTC \|= (1 << PC4); // pullup
185	DDRC &= ~(1 << PC5); // PC5 input (SET)	213	DDRC &= ~(1 << PC5); // PC5 input (SET)
186	PORTC \|= (1 << PC5); // pullup	214	PORTC \|= (1 << PC5); // pullup
187		215
188	// reset the MAX7456 to be sure any undefined states do no harm	216	// reset the MAX7456 to be sure any undefined states do no harm
189	MAX_RESET_LOW	217	MAX_RESET_LOW
190	MAX_RESET_HIGH	218	MAX_RESET_HIGH
191		219
192	// give the FC/NC and the maxim time to come up	220	// give the FC/NC and the maxim time to come up
193	LED4_ON	221	LED4_ON
194	_delay_ms(2000);	222	_delay_ms(2000);
195	LED4_OFF	223	LED4_OFF
196		224
197	//Pushing NEW chars to the MAX7456	225	//Pushing NEW chars to the MAX7456
198	#if (WRITECHARS != -1)	226	#if (WRITECHARS != -1)
199	// DISABLE display (VM0)	227	// DISABLE display (VM0)
200	spi_send_byte(0x00, 0b00000000);	228	spi_send_byte(0x00, 0b00000000);
201	#include "characters.c"	229	#include "characters.c"
202	#else	230	#else
203	// read out config for NTSC/PAL distinguishing	231	// read out config for NTSC/PAL distinguishing
204	get_eeprom(0);	232	get_eeprom(0);
205	#endif	233	#endif
206		234
207	// Setup Video Mode	235	// Setup Video Mode
208	if (COSD_FLAGS & COSD_FLAG_NTSC) {	236	if (COSD_FLAGS & COSD_FLAG_NTSC) {
209	// NTSC + enable display immediately (VM0)	237	// NTSC + enable display immediately (VM0)
210	spi_send_byte(0x00, 0b00001000);	238	spi_send_byte(0x00, 0b00001000);
211		239
212	bottom_line = 12;	240	bottom_line = 12;
213	} else {	241	} else {
214	// PAL + enable display immediately (VM0)	242	// PAL + enable display immediately (VM0)
215	spi_send_byte(0x00, 0b01001000);	243	spi_send_byte(0x00, 0b01001000);
216		244
217	bottom_line = 14;	245	bottom_line = 14;
218	}	246	}
219		247
220	/*// clear all display-mem (DMM)	248	/*// clear all display-mem (DMM)
221	spi_send_byte(0x04, 0b00000100);	249	spi_send_byte(0x04, 0b00000100);
222		250
223	// clearing takes 12uS according to maxim so lets wait longer	251	// clearing takes 12uS according to maxim so lets wait longer
224	_delay_us(120);	252	_delay_us(120);
225		253
226	// 8bit mode	254	// 8bit mode
227	spi_send_byte(0x04, 0b01000000);*/	255	spi_send_byte(0x04, 0b01000000);*/
228		256
229	// clear display memory and set to 8bit mode	257	// clear display memory and set to 8bit mode
230	clear();	258	clear();
231		259
232	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))	260	#if !(ALLCHARSDEBUG\|(WRITECHARS != -1))
233	// init usart	261	// init usart
234	usart1_init();	262	usart1_init();
235		263
236	// set up timer	264	// set up timer
237	// CTC, Prescaler /64	265	// CTC, Prescaler /64
238	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);	266	TCCR0 = (1 << WGM01) \| (0 << WGM00) \| (0 << CS02) \| (1 << CS01) \| (1 << CS00);
239		267
240	TCNT0 = 0;	268	TCNT0 = 0;
241	OCR0 = 250;	269	OCR0 = 250;
242		270
243	// enable timer output compare interrupt	271	// enable timer output compare interrupt
244	TIMSK &= ~(1 << TOIE0);	272	TIMSK &= ~(1 << TOIE0);
245	TIMSK \|= (1 << OCIE0);	273	TIMSK \|= (1 << OCIE0);
246		274
247	// SPI setup	275	// SPI setup
248	DDRD \|= (1 << PD2); // PD2 output (INT0)	276	DDRD \|= (1 << PD2); // PD2 output (INT0)
249	SpiMasterInit();	277	SpiMasterInit();
250		278
251	// PPM detection setup	279	// PPM detection setup
252	ppm_init();	280	ppm_init();
253		281
254	// enable interrupts	282	// enable interrupts
255		283
256	sei();	284	sei();
257	#endif	285	#endif
258		286
259	//write_ascii_string(2, 7, " CaScAdE ");	287	//write_ascii_string(2, 7, " CaScAdE ");
260	//write_ascii_string(2, 8, "is TESTING his open source");	288	//write_ascii_string(2, 8, "is TESTING his open source");
261	//write_ascii_string(2, 9, " EPi OSD Firmware");	289	//write_ascii_string(2, 9, " EPi OSD Firmware");
262		290
263	// we are ready	291	// we are ready
264	LED3_ON	292	LED3_ON
265		293
266	#if ALLCHARSDEBUG \| (WRITECHARS != -1)	294	#if ALLCHARSDEBUG \| (WRITECHARS != -1)
267	clear();	295	clear();
268	write_all_chars();	296	write_all_chars();
269	#else	297	#else
270		298
271	// clear serial screen	299	// clear serial screen
272	//usart1_puts("\x1B[2J\x1B[H");	300	//usart1_puts("\x1B[2J\x1B[H");
273	//usart1_puts("hello world!123\r\n");	301	//usart1_puts("hello world!123\r\n");
274		302
275	#if FCONLY	303	#if FCONLY
276	// request data ever 100ms from FC;	304	// request data ever 100ms from FC;
277	usart1_request_mk_data(0, 'd', 100);	305	usart1_request_mk_data(0, 'd', 100);
278	#else	306	#else
279	// request OSD Data from NC every 100ms	307	// request OSD Data from NC every 100ms
280	usart1_request_mk_data(1, 'o', 100);	308	usart1_request_mk_data(1, 'o', 100);
281		309
282	// and disable debug...	310	// and disable debug...
283	usart1_request_mk_data(0, 'd', 0);	311	usart1_request_mk_data(0, 'd', 0);
284	#endif	312	#endif
285		-
286	// stats for after flight	-
287	int16_t max_Altimeter = 0;	-
288	uint8_t min_UBat = 255;	-
289	#if !(FCONLY)	-
290	uint16_t max_GroundSpeed = 0;	-
291	int16_t max_Distance = 0;	-
292	uint16_t max_FlyingTime = 0;	-
293		-
294	// flags from last round to check for changes	-
295	uint8_t old_MKFlags = 0;	-
296	#endif	-
297		313
298	while (1) {	314	while (1) {
299	// in case SPI is ready and there is nothing to send right now	315	// in case SPI is ready and there is nothing to send right now
300	if (!icnt && spi_ready) {	316	if (!icnt && spi_ready) {
301	// correct transfer ends with d (done)	317	// correct transfer ends with d (done)
302	if (spi_cmd_buffer[0] == 'd') {	318	if (spi_cmd_buffer[0] == 'd') {
303	ampere = spi_cmd_buffer[1] << 8;	319	ampere = spi_cmd_buffer[1] << 8;
304	ampere \|= spi_cmd_buffer[2];	320	ampere \|= spi_cmd_buffer[2];
305	ampere_wasted = spi_cmd_buffer[3];	321	ampere_wasted = spi_cmd_buffer[3];
306	ampere_wasted = ampere_wasted << 8;	322	ampere_wasted = ampere_wasted << 8;
307	ampere_wasted \|= spi_cmd_buffer[4];	323	ampere_wasted \|= spi_cmd_buffer[4];
308	ampere_wasted = ampere_wasted << 8;	324	ampere_wasted = ampere_wasted << 8;
309	ampere_wasted \|= spi_cmd_buffer[5];	325	ampere_wasted \|= spi_cmd_buffer[5];
310	ampere_wasted = ampere_wasted << 8;	326	ampere_wasted = ampere_wasted << 8;
311	ampere_wasted \|= spi_cmd_buffer[6];	327	ampere_wasted \|= spi_cmd_buffer[6];
312	//ampere = ((int16_t ) spi_cmd_buffer + 1);	328	//ampere = ((int16_t ) spi_cmd_buffer + 1);
313	//ampere_wasted = ((int32_t ) &spi_cmd_buffer + 3);	329	//ampere_wasted = ((int32_t ) &spi_cmd_buffer + 3);
314	// if this is the first receival we should print the small A	330	// if this is the first receival we should print the small A
315	if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {	331	if (!(COSD_FLAGS2 & COSD_FLAG_STROMREC)) {
316	clear();	332	clear();
317	COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;	333	COSD_FLAGS2 &= ~COSD_ICONS_WRITTEN;
318	// update this flag	334	// update this flag
319	COSD_FLAGS2 \|= COSD_FLAG_STROMREC;	335	COSD_FLAGS2 \|= COSD_FLAG_STROMREC;
320	}	336	}
321	//write_ascii_char(8+4*30, 'v'); // valid	337	//write_ascii_char(8+4*30, 'v'); // valid
322	} else {	338	} else {
323	// update flags	339	// update flags
324	COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;	340	COSD_FLAGS2 &= ~COSD_FLAG_STROMREC;
325	//write_ascii_char(8+4*30, 'i'); // invalid	341	//write_ascii_char(8+4*30, 'i'); // invalid
326	}	342	}
327	spi_cmd_buffer[0] = 'A';	343	spi_cmd_buffer[0] = 'A';
328	spi_cmd_buffer[1] = 'B';	344	spi_cmd_buffer[1] = 'B';
329	spi_cmd_buffer[2] = 'C';	345	spi_cmd_buffer[2] = 'C';
330	spi_cmd_buffer[3] = 'D';	346	spi_cmd_buffer[3] = 'D';
331	spi_cmd_buffer[4] = 'E';	347	spi_cmd_buffer[4] = 'E';
332	spi_cmd_buffer[5] = 'F';	348	spi_cmd_buffer[5] = 'F';
333	spi_cmd_buffer[6] = 'G';	349	spi_cmd_buffer[6] = 'G';
334	StartTransfer((unsigned char*) spi_cmd_buffer, 7);	350	StartTransfer((unsigned char*) spi_cmd_buffer, 7);
335	}	351	}
336	if (rxd_buffer_locked) {	352	if (rxd_buffer_locked) {
337	#if FCONLY	353	#if FCONLY
338	if (rxd_buffer[2] == 'D') { // FC Data	354	if (rxd_buffer[2] == 'D') { // FC Data
339	Decode64();	355	Decode64();
340	debugData = ((DebugOut_t) pRxData);	356	debugData = ((DebugOut_t) pRxData);
341		357
342	// init on first data retrival, distinguished by last battery :)	358	// init on first data retrival, distinguished by last battery :)
343	if (last_UBat == 255) {	359	if (last_UBat == 255) {
344	// fix for min_UBat	360	// fix for min_UBat
345	min_UBat = debugData.Analog[9];	361	min_UBat = debugData.Analog[9];
346	init_cosd(debugData.Analog[9]);	362	init_cosd(debugData.Analog[9]);
347	}	363	}
348	#include OSD_FCMODE	364	osd_fcmode();
349	}	365	}
350	#else	366	#else
351	if (rxd_buffer[2] == 'O') { // NC OSD Data	367	if (rxd_buffer[2] == 'O') { // NC OSD Data
352	Decode64();	368	Decode64();
353	naviData = ((NaviData_t) pRxData);	369	naviData = ((NaviData_t) pRxData);
354		370
355	// init on first data retrival, distinguished by last battery :)	371	// init on first data retrival, distinguished by last battery :)
356	if (last_UBat == 255) {	372	if (last_UBat == 255) {
357	// fix for min_UBat	373	// fix for min_UBat
358	min_UBat = naviData.UBat;	374	min_UBat = naviData.UBat;
359	init_cosd(naviData.UBat);	375	init_cosd(naviData.UBat);
360	}	376	}
361	#include OSD_NCMODE	377	osd_ncmode();
362	}	378	}
363	#endif	379	#endif
364	rxd_buffer_locked = 0;	380	rxd_buffer_locked = 0;
365	}	381	}
366	// handle keypress	382	// handle keypress
367	if (s1_pressed()) {	383	if (s1_pressed()) {
368	config_menu();	384	config_menu();
369	}	385	}
370	if (seconds_since_last_data > 2) {	386	if (seconds_since_last_data > 2) {
371	#if FCONLY	387	#if FCONLY
372	// request data ever 100ms from FC;	388	// request data ever 100ms from FC;
373	usart1_request_mk_data(0, 'd', 100);	389	usart1_request_mk_data(0, 'd', 100);
374	#else	390	#else
375	// request OSD Data from NC every 100ms	391	// request OSD Data from NC every 100ms
376	usart1_request_mk_data(1, 'o', 100);	392	usart1_request_mk_data(1, 'o', 100);
377		393
378	// and disable debug...	394	// and disable debug...
379	usart1_request_mk_data(0, 'd', 0);	395	usart1_request_mk_data(0, 'd', 0);
380		396
381	// reset last time counter	397	// reset last time counter
382	seconds_since_last_data = 0;	398	seconds_since_last_data = 0;
383	#endif	399	#endif
384	}	400	}
385	}	401	}
386	#endif	402	#endif
387	return 0;	403	return 0;
388	}	404	}
389		405

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(root)/C-OSD/trunk/main.c @ 477 - Rev 495 → 497